Potential problems of stability and convergence in image-based and position-based visual servoing

François Chaumette 1
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : Visual servoing, using image-based control or position-based control, generally gives satisfactory results. However, in some cases, convergence and stability problems may occur. The aim of this paper is to emphasize these problems by considering an eye-in-hand system and a positioning task with respect to a static target which constrains the six camera degrees of freedom.
Mots-clés : Asservissement robotique
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https://hal.inria.fr/inria-00352553
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François Chaumette. Potential problems of stability and convergence in image-based and position-based visual servoing. Kriegman, D. and Hager, G and Morse, A.S. The Confluence of Vision and Control, LNCIS Series, No 237, Springer-Verlag, pp.66-78, 1998. ⟨inria-00352553⟩

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