Controlling an uninstrumented manipulator by visual servoing

Type Article
Date 2002-07
Language English
Author(s) Marchand Eric, Chaumette François, Spindler F, Perrier Michel
Affiliation(s) INRIA Rennes, IRISA, F-35042 Rennes, France.
Ifremer Toulon, F-83507 La Seyne Sur Mer, France.
Source International Journal of Robotics Research (0278-3649) (Sage Publications), 2002-07 , Vol. 21 , N. 7 , P. 635-647
WOS© Times Cited 15
Keyword(s) Real time, Pose computation, No proprioceptive sensors, Eye to hand visual servoing
Abstract In this paper we present a method to control the displacement of a robot arm with no proprioceptive sensor. The joint positions are not available and this manipulator is usually open-loop controlled. In order to get a more efficient control interface, we propose a closed-loop system based on an eye-to-hand visual servoing approach. We show that, using such an approach, measurement of the manipulator motion with proprioceptive sensors is not required to precisely control the end-effector motion. We propose solutions for position-based control and velocity control of the manipulator. To maintain. the end effector in the camera field of view, the camera orientation is also controlled. Various results show the validity and the efficiency of the approach.
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Marchand Eric, Chaumette François, Spindler F, Perrier Michel (2002). Controlling an uninstrumented manipulator by visual servoing. International Journal of Robotics Research, 21(7), 635-647. Open Access version : https://archimer.ifremer.fr/doc/00000/758/