Visual servoing in robotics scheme using a camera/laser-stripe sensor
Visual servoing in robotics scheme using a camera/laser-stripe sensor
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DOI：
10.1109/70.538978
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发表时间：
1996-10-01
期刊：
影响因子：
--
通讯作者：
Chaumette, F
中科院分区：
文献类型：
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作者：
Khadraoui, D;Motyl, G;Chaumette, F
本文的工作属于机器人学和计算机视觉领域，我们所要解决的问题是利用机器人末端执行器上的特殊传感器提供的视觉特征来完成机器人任务。该传感器由两个激光条组成，刚性固定在摄像机上，将平面光投射到场景上。首先，我们简要介绍了经典的视觉伺服方法，然后我们推广这种方法的情况下，我们的特殊传感器考虑其相互作用的一个球体，这种相互作用使我们能够建立传感器和场景之间的运动学关系。最后，无论是在仿真和在我们的实验室，结果，他们关注的定位任务相对于一个球体，并显示的鲁棒性和稳定的控制方案。
The work presented in this paper belongs to the realm of robotics and computer vision, The problem we seek to solve is the accomplishment of robotics tasks using visual features provided by a special sensor, mounted on a robot end effector, This sensor consists of two laser stripes fixed rigidly to a camera, projecting planar light on the scene. First, we briefly describe the classical visual servoing approach, We then generalize this approach to the case of our special sensor by considering its interaction with respect to a sphere, This interaction permits us to establish a kinematics relation between the sensor and the scene. Finally, both in simulation and in our experimental cell, the results are presented, They concern the positioning task with respect to a sphere, and show the robustness and the stability of the control scheme.