TY - GEN
T1 - Partitioned image-based visual servo control
T2 - 4th International Workshop on Sensor Based Intelligent Robots, 2000
AU - Corke, Peter
AU - Hutchinson, Seth
AU - Gans, Nicholas R.
N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 2002
PY - 2002
Y1 - 2002
N2 - In image-based visual servo control, since control is effected with respect to the image, there is no direct control over the Cartesian velocities of the robot end effector. As a result, trajectories that the robot executes, while pleasing in the image plane, can be quite contorted in the Cartesian space. In this paper we describe a partitioned approach to visual servo control that overcomes this problem. In particular, we decouple the z-axis rotational and translational components of the control from the remaining degrees of freedom. Then, to guarantee that all features remain in the image throughout the entire trajectory, we incorporate a potential function that repels feature points from the boundary of the image plane. We illustrate the new control scheme with a variety of simulations and laboratory experiments.
AB - In image-based visual servo control, since control is effected with respect to the image, there is no direct control over the Cartesian velocities of the robot end effector. As a result, trajectories that the robot executes, while pleasing in the image plane, can be quite contorted in the Cartesian space. In this paper we describe a partitioned approach to visual servo control that overcomes this problem. In particular, we decouple the z-axis rotational and translational components of the control from the remaining degrees of freedom. Then, to guarantee that all features remain in the image throughout the entire trajectory, we incorporate a potential function that repels feature points from the boundary of the image plane. We illustrate the new control scheme with a variety of simulations and laboratory experiments.
UR - http://www.scopus.com/inward/record.url?scp=44349090704&partnerID=8YFLogxK
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U2 - 10.1007/3-540-45993-6_8
DO - 10.1007/3-540-45993-6_8
M3 - Conference contribution
AN - SCOPUS:44349090704
SN - 9783540433996
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 122
EP - 140
BT - Sensor Based Intelligent Robots - International Workshop, 2000, Selected Revised Papers
A2 - Hager, Gregory D.
A2 - Christensen, Henrik Iskov
A2 - Bunke, Horst
A2 - Klein, Rolf
PB - Springer
Y2 - 15 October 2000 through 20 October 2000
ER -