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Conference Papers Year : 2011

Highly precise micropositioning task using a direct visual servoing scheme.

Abstract

This paper demonstrates a precise micropositioning scheme based on a direct visual servoing process. This technique uses only the pure image signal (photometric information) to design the control law. With respect to traditional visual servoing approaches that use geometric visual features (points, lines, ...), the visual features used in the control law is nothing but the pixel luminance. The proposed approach was tested in term of precision and robustness in several experimental conditions. The obtained results have demonstrated a good behavior of the control law and very good positioning precision. The obtained precisions are 89 nanometers, 14 nanometers, and 0.001 degrees in the x, y and axes of positioning platform, respectively.
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Dates and versions

hal-00554841 , version 1 (11-01-2011)

Identifiers

  • HAL Id : hal-00554841 , version 1

Cite

Brahim Tamadazte, Guillaume Duceux, Nadine Le Fort-Piat, Eric Marchand. Highly precise micropositioning task using a direct visual servoing scheme.. IEEE internatioanal Conference on Robotics and Automation, ICRA'11., May 2011, Shangai, China. pp.5689-5694. ⟨hal-00554841⟩
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