Dynamic visual servoing from sequential regions of interest acquisition. - Archive ouverte HAL Access content directly
Journal Articles The International Journal of Robotics Research Year : 2012

Dynamic visual servoing from sequential regions of interest acquisition.

Abstract

One of the main drawbacks of vision-based control that remains unsolved is the poor dynamic performances caused by the low acquisition frequency of the vision systems and the time latency due to processing. We propose in this paper to face the challenge of designing a high-performance dynamic visual servo control scheme. Two versatile control laws are developed in this paper: a position-based dynamic visual servoing and an image-based dynamic visual servoing. Both control laws are designed to compute the control torques exclusively from a sequential acquisition of regions of interest containing the visual features to achieve an accurate trajectory tracking. The presented experiments on vision-based dynamic control of a high-speed parallel robot show that the proposed control schemes can perform better than joint-based computed torque control.

Domains

Automatic
Fichier principal
Vignette du fichier
5bb9e47d-416a-4875-9fad-8c2d4b0c606b-author.pdf (1.35 Mo) Télécharger le fichier
Origin : Publisher files allowed on an open archive
Loading...

Dates and versions

hal-01324543 , version 1 (12-07-2016)

Identifiers

Cite

Redwan Dahmouche, Nicolas Andreff, Youcef Mezouar, Omar Ait Aider, Philippe Martinet. Dynamic visual servoing from sequential regions of interest acquisition.: On behalf of: Multimedia Archives Dynamic visual servoing from sequential regions of interest acquisition.. The International Journal of Robotics Research, 2012, 31 (4), pp.520-537. ⟨10.1177/0278364911436082⟩. ⟨hal-01324543⟩
241 View
205 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More