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Visual servo control, Part II: Advanced approaches
Abstract : This article is the second of a two-part tutorial on visual servo control. In this tutorial, we have only considered velocity controllers. It is convenient for most of classical robot arms. However, the dynamics of the robot must of course be taken into account for high speed task, or when we deal with mobile nonholonomic or underactuated robots. As for the sensor, geometrical features coming from a classical perspective camera is considered. Features related to the image motion or coming from other vision sensors necessitate to revisit the modeling issues to select adequate visual features. Finally, fusing visual features with data coming from other sensors at the level of the control scheme will allow to address new research topics.
Cited literature [48 references]
https://hal.inria.fr/inria-00350638
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Wednesday, January 7, 2009 - 2:26:54 PM
Last modification on : Thursday, January 20, 2022 - 4:19:57 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 6:53:51 PM
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Wednesday, January 7, 2009 - 2:26:54 PM
Last modification on : Thursday, January 20, 2022 - 4:19:57 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 6:53:51 PM
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2007_ieee_ram_chaumette.pdf
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