AVOIDING VISUAL SERVOING SINGULARITIES USING A COOPERATIVE CONTROL ARCHITECTURE

N. García, C. Pérez, L. Payá, R. Ñeco, J. M. Sabater, J. M. Azorín

2004

Abstract

To avoid the singularities of an image-based visual control of an industrial robot (Mitsubishi PA-10), a simple and efficient control law which combines the information of two cameras in a cooperative way has been developed and tested. One of this cameras is rigidly mounted on the robot end-effector (eye-in-hand configuration) and the other one observes the robot within its workspace (eye-to-hand configuration). The system architecture proposed allows us to control the 6 dof of an industrial robot when typical problems of image-based visual control techniques are produced.

References

  1. B. Espiau, F. Chaumette, P. R. (1992). A new approach to visual servoing in robotics. IEEE Trans. Robotics and Automation, 8(3):313-326.
  2. C. Samson, M. L. and Espiau, B. (1991). Robot Control: the Task Function Approach. volume 22 of Oxford Engineering Science Series.Clarendon Press., Oxford, UK, 1st edition.
  3. Chaumette, F. (1998). Potential problems of stability and convergence in image-based and position-based visual servoing. In Kriegman, D., Hager, G. ., and Morse, A., editors, The Con uence of Vision and Control, pages 66-78. LNCIS Series, No 237, Springer-Verlag.
  4. DeMenthon, D. and Davis, L. S. (1992). Model-based object pose in 25 lines of code. In European Conference on Computer Vision, pages 335-343.
  5. Espiau, B. (1993). Effect of camera calibration errors on visual servoing in robotics.
  6. Flandin, G., Chaumette, F., and Marchand, E. (2000). Eyein-hand / eye-to-hand cooperation for visual servoing.
  7. Garcia, N., Mamani, G., Reinoso, O., Nasisi, O., Aracil, R., and Carelli, R. (2002). Visual servo control of industrial robot manipulator. In 15th IFAC World Congress in Automation and Control, volume 1, Barcelona, Spain.
  8. Hutchinson, S. A., Hager, G. D., and Corke, P. I. (1996). A tutorial on visual servo control. IEEE Trans. Robotics and Automation, 12(5):651-670.
  9. Malis, E., Chaumette, F., and Boudet, S. (2000). Multicameras visual servoing. In IEEE International Conference on Robotics and Automation, volume 4, pages 3183-3188, San Francisco, USA.
  10. Marchand, E. and Hager, G. (1998). Dynamic sensor planning in visual servoing. In IEEE Int. Conf. on Robotics and Automation, volume 3, pages 1988-1993, Leuven,Belgium.
  11. R. Horaud, F. D. and Espiau, B. (1998). Visually guided object grasping. IEEE Trans. Robotics and Automation, 14(4):525-532.
Download


Paper Citation


in Harvard Style

García N., Pérez C., Payá L., Ñeco R., Sabater J. and Azorín J. (2004). AVOIDING VISUAL SERVOING SINGULARITIES USING A COOPERATIVE CONTROL ARCHITECTURE . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 162-168. DOI: 10.5220/0001134201620168


in Bibtex Style

@conference{icinco04,
author={N. García and C. Pérez and L. Payá and R. Ñeco and J. M. Sabater and J. M. Azorín},
title={AVOIDING VISUAL SERVOING SINGULARITIES USING A COOPERATIVE CONTROL ARCHITECTURE},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={162-168},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001134201620168},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - AVOIDING VISUAL SERVOING SINGULARITIES USING A COOPERATIVE CONTROL ARCHITECTURE
SN - 972-8865-12-0
AU - García N.
AU - Pérez C.
AU - Payá L.
AU - Ñeco R.
AU - Sabater J.
AU - Azorín J.
PY - 2004
SP - 162
EP - 168
DO - 10.5220/0001134201620168