Robust visual servoing in 3-D reaching tasks

Author

Grosso, Enrico ; Metta, Giorgio ; Oddera, Andrea ; Sandini, Giulio

Author_Institution

Dept. of Commun. Comput. & Syst. Sci., Genoa Univ., Italy

Volume

12

Issue

5

fYear

1996

fDate

10/1/1996 12:00:00 AM

Firstpage

732

Lastpage

742

Abstract

This paper describes a novel approach to the problem of reaching an object in space under visual guidance. The approach is characterized by a great robustness to calibration errors, such that virtually no calibration is required. Servoing is based on binocular vision: a continuous measure of the end-effector motion field, derived from real-time computation of the binocular optical flow over the stereo images, is compared with the actual position of the target and the relative error in the end-effector trajectory is continuously corrected. The paper outlines the general framework of the approach, shows how visual measures are obtained and discusses the synthesis of the controller along with its stability analysis. Real-time experiments are presented to show the applicability of the approach in real 3-D applications

Keywords

control system synthesis; manipulators; robot vision; robust control; servomechanisms; stereo image processing; 3D reaching tasks; binocular optical flow; binocular vision; calibration errors; controller synthesis; end-effector motion field; end-effector trajectory; real-time computation; real-time experiments; relative error; robust visual servoing; robustness; stability analysis; stereo images; visual guidance; Calibration; Computer vision; Error correction; Fluid flow measurement; Image motion analysis; Motion measurement; Optical computing; Position measurement; Robustness; Visual servoing;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.538977

Filename

538977