Oh Paul Y. author Columbia University. Computer Science Allen Peter K. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1998 English Image-based servoing systems are often used to track moving targets and their underlying control architecture is a regulation of the image. This regulation is a function of rigid camera-to-target geometric constraints. Satisfying such constraints requires that the robot motors have sufficient velocity bandwidths, and often these bandwidths are limited. This paper lays down the foundation for a partitioned controller. Such a controller would coordinate a camera's DOF into a synergistic move to overcome bandwidth limitations. Tracking experiments are shown on a custom designed 5-DOF gantry robot which highlight the limitations of regulator-based control, as well as show how partitioning can be used to achieve more robust control. Robotics Piscataway, N.J. IEEE 1998 1360 1365 http://dx.doi.org/10.1109/ROBOT.1998.677294