Y. Mezouar, F. Chaumette. Design and tracking of desirable trajectories in the image space by integrating mechanical and visibility constraints. In IEEE Int. Conf. on Robotics and Automation, ICRA'01, Volume 1, Pages 731-736, Seoul, Korea, May 2001.
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Since image-based visual servoing is a local feedback control solution, it requires the definition of intermediate subgoals in the sensor space at the task planning level. In this paper, we describe a general technique for specifying and tracking trajectories of an unknown object in the camera image space. First, physically valid C2 image trajectories which correspond to quasi-optimal 3D camera trajectory (approaching as much as possible a straight line) are performed. Both mechanical (joint limits) and visibility constraints are taken into account at the task planning level. The good behavior of Image-based control when desired and current camera positions are closed is then exploited to design an efficient control scheme. Real time experimental results using a camera mounted on the end effector of a six d-o-f robot confirm the validity of our approach
@InProceedings{Mezouar01a,
Author = {Mezouar, Y. and Chaumette, F.},
Title = {Design and tracking of desirable trajectories in the image space by integrating mechanical and visibility constraints},
BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'01},
Volume = { 1},
Pages = {731--736},
Address = {Seoul, Korea},
Month = {May},
Year = {2001}
}
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