DocumentCode :
697499
Title :
Visual servoing by path planning
Author :
Mezouar, Youcef ; Chaumette, Francois
Author_Institution :
IRISA/INRIA Rennes, Rennes, France
fYear :
2001
fDate :
4-7 Sept. 2001
Firstpage :
2904
Lastpage :
2909
Abstract :
Since image-based visual servoing is a local feedback control solution, it requires the definition of intermediate subgoals in the sensor space at the task planning level. In this paper, we describe a general technique for specifying and tracking trajectories of an unknown object in the camera image space. First, physically valid C2 image trajectories which correspond to quasi-optimal 3D camera trajectory (approaching as much as possible a straight line) are performed. Both mechanical (joint limits) and visibility constraints are taken into account at the task planning level. The good behavior of Image-based control when desired and current camera positions are closed is then exploited to design an efficient control scheme. Real time experimental results using a camera mounted on the end effector of a six d-o-f robot confirm the validity of our approach.
Keywords :
end effectors; path planning; trajectory control; visual servoing; C2 image trajectories; camera image space; end effector; image-based control; mechanical constraints; path planning; quasioptimal 3D camera trajectory; robot; task planning; trajectory tracking; visibility constraints; visual servoing; Aerospace electronics; Cameras; Joints; Robot kinematics; Robot vision systems; Trajectory; Joints limits; Path planning; Visibility; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
Type :
conf
Filename :
7076374
Link To Document :
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