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
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'01, 2001, Seoul, South Korea. 1, pp.731-736, 2001
Liste complète des métadonnées

Littérature citée [15 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00352136
Contributeur : Eric Marchand <>
Soumis le : lundi 12 janvier 2009 - 14:48:08
Dernière modification le : mercredi 16 mai 2018 - 11:23:06
Document(s) archivé(s) le : mardi 8 juin 2010 - 17:20:06

Fichier

2001_icra_mezouar.pdf
Fichiers éditeurs autorisés sur une archive ouverte

Identifiants

  • 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. 1, pp.731-736, 2001. 〈inria-00352136〉

Partager

Métriques

Consultations de la notice

240

Téléchargements de fichiers

136