Title :
Robust 3D vision based control and planning
Author :
Zanne, Philippe ; Morel, Guillaume ; Plestan, Franck
Author_Institution :
Strasbourg I Univ., Illkirch, France
fDate :
26 April-1 May 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1302414
