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The aim of this work is to present a control system for a six degrees freedom Puma robot using 3D and 2D Visual Servoing.
The key beneficial features include up to 12 times magnification, three-dimensional vision, and seven degrees freedom of movement with the instruments.
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= degree freedom.
Note: df, degree of freedom; de, degree of error.
Degrees of freedom for factor A. Degrees of freedom for the error.
ndf = numerator degrees of freedom, ddf = denominator degrees of freedom.
*Num df, numerator degrees of freedom; den df, denominator degrees of freedom.
Num DF = numerator degrees of freedom, Den DF = denominator degrees of freedom for the corresponding sum of squares.
Thus, the system consisted of 18 degrees of freedom (6 joints × 3 degrees of freedom each).
The total degrees of freedom = n - 1, the regression degrees of freedom = 1, and the residual degrees of freedom = n - 2 (total - regression degrees of freedom).
Each body has two degrees of freedom and the system has 2 N degrees of freedom.
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