Design and tracking of desirable trajectories in the image space by integrating mechanical and visibility constraints

Youcef Mezouar 1 François Chaumette 2
2 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
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.
Mots-clés : Asservissement robotique
Document type :
Conference papers
Complete list of metadatas

Cited literature [15 references]  Display  Hide  Download

https://hal.inria.fr/inria-00352136
Contributor : Eric Marchand <>
Submitted on : Monday, January 12, 2009 - 2:48:08 PM
Last modification on : Friday, November 16, 2018 - 1:23:35 AM
Long-term archiving on : Tuesday, June 8, 2010 - 5:20:06 PM

File

2001_icra_mezouar.pdf
Publisher files allowed on an open archive

Identifiers

  • HAL Id : inria-00352136, version 1

Citation

Youcef Mezouar, François Chaumette. Design and tracking of desirable trajectories in the image space by integrating mechanical and visibility constraints. IEEE Int. Conf. on Robotics and Automation, ICRA'01, 2001, Seoul, South Korea. pp.731-736. ⟨inria-00352136⟩

Share

Metrics

Record views

343

Files downloads

258