Controlling an Uninstrumented Manipulator By Visual Servoing

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Controlling an Uninstrumented Manipulator By Visual Servoing
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 closedloop 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. KEY WORDS--eye-to-hand visual servoing, no proprioceptive sensors, pose computation, real-time
Éric Marchand, François Chaumette, F
Added 22 Dec 2010
Updated 22 Dec 2010
Type Journal
Year 2002
Where IJRR
Authors Éric Marchand, François Chaumette, Fabien Spindler, Michel Perrier
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