NDLI: Path planning for robust image-based control

Content Provider	IEEE Xplore Digital Library
Author	Mezouar, Y. Chaumette, F.
Copyright Year	1989
Abstract	Vision feedback control loop techniques are efficient for a large class of applications, but they come up against difficulties when the initial and desired robot positions are distant. Classical approaches are based on the regulation to zero of an error function computed from the current measurement and a constant desired one. By using such an approach, it is not obvious how to introduce any constraint in the realized trajectories or to ensure the convergence for all the initial configurations. In this paper, we propose a new approach to resolve these difficulties by coupling path planning in image space and image-based control. Constraints such that the object remains in the camera field of view or the robot avoids its joint limits can be taken into account at the task planning level. Furthermore, by using this approach, current measurements always remain close to their desired value, and a control by image-based servoing ensures robustness with respect to modeling errors. The proposed method is based on the potential field approach and is applied whether the object shape and dimensions are known or not, and when the calibration parameters of the camera are well or badly estimated. Finally, real-time experimental results using an eye-in-hand robotic system are presented and confirm the validity of our approach.
Starting Page	534
Ending Page	549
Page Count	16
File Size	2219970
File Format	PDF
ISSN	1042296X
Volume Number	18
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-08-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Robust control Robot vision systems Current measurement Cameras Feedback control Image resolution Orbital robotics Error correction Shape
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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