Visual servoing by path planning
Visual servoing by path planning
复制标题
通过路径规划进行视觉伺服
DOI：
10.23919/ecc.2001.7076374
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
F. Chaumette
中科院分区：
文献类型：
--
作者：
Y. Mezouar;F. Chaumette
由于基于图像的视觉伺服是一个局部反馈控制解决方案，它需要在任务规划级的传感器空间中的中间子目标的定义。在本文中，我们描述了一种通用的技术，用于指定和跟踪未知对象在相机图像空间中的轨迹。首先，执行对应于准最佳3D相机轨迹（尽可能接近直线）的物理上有效的C2图像轨迹。机械（关节限制）和可见性约束都在任务规划级别考虑在内。然后利用基于图像的控制在期望的和当前的摄像机位置关闭时的良好行为来设计有效的控制方案。真实的实时实验结果使用安装在六自由度机器人的末端执行器的摄像机证实了我们的方法的有效性。
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.