Design and tracking of desirable trajectories in the image space by integrating mechanical and visibility constraints

Youcef Mezouar (1) , François Chaumette (2)

1 LASMEA - Laboratoire des sciences et matériaux pour l'électronique et d'automatique
2 VISTA - Vision spatio-temporelle et active

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.

Mots clés: Asservissement; robotique

Domaines: Robotique [cs.RO]

Youcef Mezouar, François Chaumette. Design and tracking of desirable trajectories in the image space by integrating mechanical and visibility constraints. IEEE Int. Conf. on Robotics and Automation, ICRA'01, 2001, Seoul, South Korea. pp.731-736. ⟨inria-00352136⟩