New shortest-path approaches to visual servoing
2004 (English)Conference paper (Refereed)
In recent years, a number of visual servo control algorithms have been proposed. Most approaches try to solve the inherent problems of image-based and position-based servoing by partitioning the control between image and Cartesian spaces. However, partitioning of the control often causes the Cartesian path to become more complex, which might result in operation close to the joint limits. A solution to avoid the joint limits is to use a shortest-path approach, which avoids the limits in most cases. In this paper, two new shortest-path approaches to visual servoing are presented. First, a position-based approach is proposed that guarantees both shortest Cartesian trajectory and object visibility. Then, a variant is presented, which avoids the use of a 3D model of the target object by using homography based partial pose estimation.
Place, publisher, year, edition, pages
2004. 349-354 p.
, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1
Cameras, Computational geometry, Motion estimation, Object recognition, Position control, Problem solving, Servomotors, Cartesian path, Joint limits, Shortest-path approaches, Visual servoing, Robotics
IdentifiersURN: urn:nbn:se:kth:diva-157643ScopusID: 2-s2.0-14044268233ISBN: 0780384636OAI: oai:DiVA.org:kth-157643DiVA: diva2:771299
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 28 September-2 October 2004, Sendai, Japan
QC 201412122014-12-122014-12-112014-12-12Bibliographically approved