DocumentCode
3033118
Title
Robust 3D vision based control and planning
Author
Zanne, Philippe ; Morel, Guillaume ; Plestan, Franck
Author_Institution
Strasbourg I Univ., Illkirch, France
Volume
5
fYear
2004
fDate
26 April-1 May 2004
Firstpage
4423
Abstract
In this paper, we present a method to plan and control the 6 DOF displacements of a manipulator from an eye-in-hand camera image. With this method, even in the presence of camera calibration errors, we can formally guarantee that the system is stable and that the entire target remains visible during any visually servoed motion.
Keywords
calibration; cameras; displacement control; image motion analysis; manipulators; path planning; robot vision; robust control; camera calibration error; eye in hand camera image; manipulator; path planning; robust 3D vision; robust control; visually servoed motion; Calibration; Cameras; Displacement control; Error correction; Robust control; Robust stability; Robustness; Sliding mode control; Uncertainty; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1302414
Filename
1302414
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