2UIUC - University of Illinois at Urbana Champaign (University of Illinois at Urbana-Champaign • College of Engineering Department of Computer Science 201 North Goodwin Avenue Urbana, IL 61801-2302 webmaster@cs.illinois.edu - États-Unis)
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.
Type de document :
Article dans une revue
IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2007, 14 (1), pp.109-118
https://hal.inria.fr/inria-00350638
Contributeur : Eric Marchand
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Soumis le : mercredi 7 janvier 2009 - 14:26:54
Dernière modification le : mercredi 11 avril 2018 - 01:57:33
Document(s) archivé(s) le : mardi 8 juin 2010 - 18:53:51
François Chaumette, S. Hutchinson. Visual servo control, Part II: Advanced approaches. IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2007, 14 (1), pp.109-118. 〈inria-00350638〉
