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Conference Papers Year : 2004

Tasks sequencing for visual servoing


Classical visual servoing approaches tend to constrain all degrees of freedom (DOF) of the robot during a task s execution. This may lead to singularities, force the robot into its joint limits or allow the visual features to leave the image. In this article a new approach is proposed. The key idea of this work is to control the robot with a very under-constrained task when it is far of the desired position, and to incrementally constrain the global task by adding further tasks as the robot moves closer to the goal. A method is first proposed that stacks elementary tasks until the robot is fully constrained. To insure the continuity of the articular velocities when adding constraints, a new control law is then proposed. Experiments that prove the interest of the approach are also provided.
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inria-00352028 , version 1 (12-01-2009)


  • HAL Id : inria-00352028 , version 1


Nicolas Mansard, François Chaumette. Tasks sequencing for visual servoing. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04, 2004, Sendai, Japan. pp.992-997. ⟨inria-00352028⟩
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