Controlling an uninstrumented ROV manipulator by visual servoing.

E. Marchand 1 François Chaumette 1 F. Spindler 1 M. Perrier 1, 2
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : In this paper we present a vision-based method to control the displacement of robot arm mounted on an underwater ROV. A closed-loop system based on an eye-to-hand visual servoing approach has been designed to achieve this task. We show that, using such an approach, measuring the manipulator motion with proprioceptive sensors is not required to precisely control the end-effector motion. To maintain the end effector in the field of view, the camera orientation is also controlled. Presented results show the validity of the approach.
Mots-clés : Asservissement robotique
Type de document :
Communication dans un congrès
MTS/IEEE OCEANS 2001 Conference, 2001, Honolulu, Hawaii, United States. 2, pp.1047-1053, 2001
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https://hal.inria.fr/inria-00352134
Contributeur : Eric Marchand <>
Soumis le : lundi 12 janvier 2009 - 14:47:53
Dernière modification le : vendredi 16 novembre 2018 - 01:21:47
Document(s) archivé(s) le : mardi 8 juin 2010 - 19:40:09

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2001_ocean_marchand.pdf
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E. Marchand, François Chaumette, F. Spindler, M. Perrier. Controlling an uninstrumented ROV manipulator by visual servoing.. MTS/IEEE OCEANS 2001 Conference, 2001, Honolulu, Hawaii, United States. 2, pp.1047-1053, 2001. 〈inria-00352134〉

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