Title :
A control basis for visual servoing tasks
Author :
Schnackertz, T.J., Jr. ; Grupen, R.A.
Author_Institution :
Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
Abstract :
This article discusses a set of three controllers that can be used as a basis for visual servoing tasks. These controllers map image plane feature errors to actuator commands through visuo-motor Jacobians. It is shown how unary and binary image plane constraints can be used to specify visual servoing tasks. A specific visual servoing task is described and the experimental results are presented
Keywords :
active vision; computer vision; control system synthesis; feature extraction; feedback; image sequences; robots; servomechanisms; active vision system; actuator commands; binary image plane constraint; feature extraction; homing; image plane feature errors; image sequence; manipulator; unary image plane constraint; visual servoing; visuo-motor Jacobians; Actuators; Automatic control; Cameras; Control systems; Error correction; Jacobian matrices; Optical control; Optical feedback; Robot vision systems; Visual servoing;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525329
