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Asservissement visuel de droites par commande découplée et stéréovision

Abstract : The overall objective of this work is to study robotic-based stereo visual feedback with good control behaviour and decoupling properties. To this purpose, the key ideas (however not new) are both to look for a minimal data representation and to take care of degrees of freedom more sensitive to noise in the visual measurements so as to design efficient state vectors. A 3-D visual servoing based on kinematic approach is addressed here. Then, the components of the velocity screw are splitted in subvectors of low dimensions to get a better control of the on-board cameras motion. In this article, straight lines are used as visual measurements since they are easy to segment from most images captured from man-made environments, while tracking cylinder-shaped surgical instrument in minimally invasive surgery or tracking arms for medical assistance in physiotherapy to get quantitative indicators for patient's assessment. To this end, new tasks functions based on the normalized Plücker representation (see [2]) and a stereo visual control scheme are presented. Considering one (4 DOF) or several straight lines (generally 6DOF) we design velocity control laws with full decoupling so as to improve the convergence behaviour of the servoing. To assess this work, the control algorithms are firstly per- formed with simulations data. This allows to estimate the space parameters sensitivity and also to analyze the control behaviours. Finally, an experimental setup made up with two industrial cameras mounted on a 6-DOF robot plateform is used to validate the proposed approach.
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https://hal.inria.fr/inria-00595723
Contributor : Peter Sturm <>
Submitted on : Wednesday, May 25, 2011 - 2:08:56 PM
Last modification on : Saturday, January 13, 2018 - 1:04:23 AM
Long-term archiving on: : Friday, August 26, 2011 - 2:25:28 AM

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Fadi Alkhalil, Christophe Doignon, Pierre Graebling. Asservissement visuel de droites par commande découplée et stéréovision. ORASIS - Congrès des jeunes chercheurs en vision par ordinateur, INRIA Grenoble Rhône-Alpes, Jun 2011, Praz-sur-Arly, France. ⟨inria-00595723⟩

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