FN Archimer Export Format PT J TI Controlling an uninstrumented manipulator by visual servoing BT AF MARCHAND, Eric CHAUMETTE, François SPINDLER, F PERRIER, Michel AS 1:;2:;3:;4:; FF 1:;2:;3:;4:PDG-DNIS-SM-RNV; C1 INRIA Rennes, IRISA, F-35042 Rennes, France. Ifremer Toulon, F-83507 La Seyne Sur Mer, France. C2 INRIA RENNES, FRANCE IFREMER, FRANCE SI TOULON SE PDG-DNIS-SM-RNV IN WOS Ifremer jusqu'en 2018 IF 0.614 TC 17 UR https://archimer.ifremer.fr/doc/2002/publication-758.pdf LA English DT Article DE ;Real time;Pose computation;No proprioceptive sensors;Eye to hand visual servoing AB 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. PY 2002 PD JUN SO International Journal of Robotics Research SN 0278-3649 PU Sage Publications VL 21 IS 7 UT 000179627300002 BP 635 EP 647 ID 758 ER EF