By Topic

Positioning of a robot with respect to an object, tracking it and estimating its velocity by visual servoing

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Chaumette, F. ; IRISA-INRIA Rennes, France ; Rives, Patrick ; Espiau, B.

An application is described of the so-called visual servoing approach to robot positioning with respect to an object and to target tracking. After briefly discussing how the task function approach can be applied to tasks which include the use of visual features, the authors give a simplified control expression which explicitly takes into account the case of moving objects. Estimating the target velocity while performing the tracking control leads to a kind of adaptive control scheme. The authors then consider the specific case of a square target and derive all the components of the control scheme. They present some experimental results obtained at the video rate in an experimental system composed of a camera mounted on the end effector of a six-DOF robot

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991