Tasks sequencing for visual servoing

Nicolas Mansard 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Classical visual servoing approaches tend to constrain all degrees of freedom (DOF) of the robot during a task s execution. This may lead to singularities, force the robot into its joint limits or allow the visual features to leave the image. In this article a new approach is proposed. The key idea of this work is to control the robot with a very under-constrained task when it is far of the desired position, and to incrementally constrain the global task by adding further tasks as the robot moves closer to the goal. A method is first proposed that stacks elementary tasks until the robot is fully constrained. To insure the continuity of the articular velocities when adding constraints, a new control law is then proposed. Experiments that prove the interest of the approach are also provided.
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Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04, 2004, Sendai, Japan. 1, pp.992-997, 2004
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Nicolas Mansard, François Chaumette. Tasks sequencing for visual servoing. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04, 2004, Sendai, Japan. 1, pp.992-997, 2004. 〈inria-00352028〉

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