![](bg4.png)
0 5 10 15 20 25 30
−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
0.6
0.8
1
1.2
Iterations number
ω (rad ⋅ s
−1
)
ω
x
ω
y
ω
z
(a) Rotational velocity
0 5 10 15 20 25 30
−1
−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
Iterations number
v (m ⋅ s
−1
)
v
x
v
y
v
z
(b) Translational velocity
0 20 40 60 80 100 120 140 160 180 200
−0.07
−0.06
−0.04
−0.02
0
0.02
0.04
0.06
0.07
Rotation speed
Iterations number
ω
ω
x
ω
y
ω
z
(c) Rotational velocity
(Weighted features)
0 20 40 60 80 100 120 140 160 180 200
−0.1
−0.08
−0.06
−0.04
−0.02
0
0.02
0.04
0.06
0.08
0.1
Traslation speed
Iterations number
v
v
x
v
y
v
z
(d) Translational velocity
(Weighted features)
Figure 3: Experimental results: 2D visual servoing ap-
proach.
features on the center of the image. To assure the con-
tinuity of the control law in this case, a prediction fil-
ter developed by us is used to estimate the coordinates
of the occluded image features. With the experimen-
tal results, it has been shown that the 2D visual servo-
ing with weighted features is continuous and locally
stable in a neighborhood of the equilibrium point.
ACKNOWLEDGEMENTS
This work has been supported by the Spanish Govern-
ment through the ’Comision Interministerial de Cien-
cia y Tecnologa’ (CICyT) through project ”T
´
ecnicas
avanzadas de teleoperaci
´
on y realimentacin sensorial
aplicadas a la cirug
´
ıa asistida por robots” DPI2005-
08203-C02-02 and the Valencia Government trough
the project ”Desarrollo de T
´
ecnicas avanzadas de real-
imentacion sensorial aplicadas a Cirug
´
ıa Asistida por
Robots” GV05/192.
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