A decoupled image space approach to visual servo control of a robotic manipulator.Report as inadecuate




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1 ANU - Australian National University - Department of engineering 2 I3S - Laboratoire d-Informatique, Signaux, et Systèmes de Sophia Antipolis 3 VISTA - Vision spatio-temporelle et active IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique

Abstract : An image-based visual servo control is presented for a robotic manipulator. The proposed control design ad- dresses visual servo of -eye-in-hand- type systems. Us- ing a novel representation of the visual error based on a spherical representation of target centroid information along with a measure of the rotation between the camera and the target, the control of the position and orientation is decoupled. A non-linear gain introduced into the ori- entation feedback kinematics prevents the target image from leaving the visual field. Semi-global convergence of the closed loop system is proved.





Author: R. Mahony - Tarek Hamel - François Chaumette -

Source: https://hal.archives-ouvertes.fr/



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