Patent Document ID: 8934003
Application ID: 13519383
Patent Status: 1

Claim One:
1. A robotic system ( 20 ), comprising: a camera ( 30 ) having an optical view for acquiring a sequence of digital video frames ( 32 ) illustrating an image; a robot ( 40 ) including an end-effector ( 42 ) and at least one robotic joint ( 41 ) for maneuvering the end-effector ( 42 ); and a robot controller ( 50 ) in communication with the camera ( 30 ) and the robot ( 40 ), the robot controller ( 50 ) including a visual servo ( 51 ) for controlling a pose of the end-effector ( 42 ) relative to an image feature within each digital video frame ( 32 ), wherein, for each digital video frame ( 32 ), the visual servo ( 51 ) is operable to identify a tracking vector (vtrk) within an image coordinate system ( 80 ) of the digital video frame ( 32 ) extending from a tracking point (TR) to a target point (TG) associated with the image feature, to map the tracking vector (vtrk) within a configuration space ( 100 ) constructed from a robotic coordinate system ( 90 ) associated with the end-effector ( 42 ), and to derive a pose of the end-effector ( 42 ) within the robotic coordinate system ( 90 ) from the mapping of the tracking vector (vtrk) within the configuration space ( 100 ).