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Eye-in-hand / eye-to-hand cooperation for visual servoing

Grégory Flandin 1 François Chaumette 1 E. Marchand 1
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : The use of a camera in a robot control loop can be performed with two types of architecture: the camera is said eye-in-hand when rigidly mounted on the robot end-effector and it is said eye-to-hand when it observes the robot within its work space. These two schemes have technical differences and they can play very complementary parts. Obviously, the eye-in-hand one has a partial but precise sight of the scene whereas the eye-to-hand camera has a less precise but global sight of it. The motivation of our work is to take advantage of both, free-standing and robot-mounted sensors, in a cooperation scheme. The system we present in this paper performs two separate tasks: a positioning one that is ensured in the global image and a tracking one performed in the local image. For robustness considerations, the control law stability is proved and several cooperative schemes are studied and compared in experimental results.
Mots-clés : Asservissement robotique
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Grégory Flandin, François Chaumette, E. Marchand. Eye-in-hand / eye-to-hand cooperation for visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'00, 2000, San Francisco, California, United States. pp.2741-2746. ⟨inria-00352159⟩

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