54


fruit was that the vision-servo problem was geometrically decoupled. In other words, changes

in 81 did not affect xi, and changes in 02 did not affect yi. This decoupling was indicated by the

absence of a dO1 term in equation 5-15 and the absence of a de2 term in equation 5-16. The

geometry contributed to the decoupling effect allowing the two-dimensional vision control

problem to be treated as separate problems, greatly simplifying the development of the control

algorithms.