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. In this article a new approach is proposed. The key idea 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.

Authors

• Nicolas Mansard
• François Chaumette

Keywords

• Visual servoing
• Robot control
• Path planning
• Trajectory
• Velocity control
• Motion control
• Robot motion
• Noise robustness
• Image processing
• Robot vision systems
• Degrees Of Freedom
• Task Force
• Optimal Control
• Global Task
• Center Of Mass
• Visual Features
• Variety Of Tasks
• Optical Axis
• Image Point
• Projection Operator
• First-order Differential Equations
• Order Moments
• Order Differential Equation
• Transient Time
• Second-order Moments
• Camera Field Of View
• Non-homogeneous Equation