Skip to main content
SpringerLink
Log in

A new approach to visual servoing in robotics

  • Conference paper
  • First Online:
Geometric Reasoning for Perception and Action (GRPA 1991)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 708))

Included in the following conference series:

Abstract

This paper describes a new approach of vision-based control in robotics. The basic idea consists in considering a vision system as a specific sensor dedicated to a task, and included in a control servo-loop. Once the necessary modeling stage is performed, the framework becomes the one of automatic control, and naturally stability and robustness questions arise.

The paper is organized as follows: in the introduction, a short state-of-the-art in the area of visual servoing is reviewed. Then, the basic concepts allowing to model the concerned interactions are given. The Interaction Screw is thus defined in a general way, and the application to images follows. Starting from the concept of task function, the general frame-work of the control is then described, and stability results are recalled. The concept of hybrid task is also presented and then applied to visual sensors.

The paper ends with the presentation of several simulation and experimental results, and some guidelines for future work are drawn in the conclusion.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. G. J. Agin, “Real Time Control of a Robot with a Mobile Camera”, SRI Interna-tional, Technical Note 179, February 1979.

    Google Scholar 

  2. G. André, R. Fournier, “Generalized End Effector Control in a Computer Aided Teleoperation System with Application to Motion Coordination of a Manipulator Arm on a Oscillating Carrier”, Int. Conf. on Advanced Robotics, Tokyo, Japan, pp. 337–344, September 1985.

    Google Scholar 

  3. D.J. Balek, R.B. Kelley, “Using Gripper Mounted Infrared Proximity Sensors for Robot Feedback Control”, IEEE Int. Conf. on Robotics and Automation, Saint Louis, Missouri, USA, pp. 282–287, March 1985.

    Google Scholar 

  4. P. Bouthemy, “A Maximum Likelihood Framework for Determining Moving Edges”, IEEE Trans. on Pattern Analysis and Machine Intelligence, Vol. 11, n. 5, pp. 499–511, May 1989.

    Google Scholar 

  5. F. Chaumette, P. Rives, “Réalisation et calibration d'un système expérimental de vision composé d'une caméra embarquée sur un robot manipulateur”, INRIA Research Report, n. 994, March 1989.

    Google Scholar 

  6. F. Chaumette, “La relation vision-commande: théorie et applications à des tâches robotiques”, Ph-D Thesis, Rennes I University, France, July 1990.

    Google Scholar 

  7. F. Chaumette, P. Rives, B. Espiau, “Positioning of a Robot with respect to an Object, Tracking it and Estimating its Velocity by Visual Servoing”, IEEE Int. Conf. on Robotics and Automation, Sacramento, USA, Vol. 3, pp. 2248–2253, April 1991.

    Google Scholar 

  8. E. Cheung, V. Lumelsky, “Proximity Sensing in Robot Manipulator Motion Planning: System and Implementation Issues”, IEEE Trans. on Robotics and Automation, Vol. 5, n. 6, pp. 740–751, December 1989.

    Google Scholar 

  9. P. I. Corke, R. P. Paul, “Video-Rate Visual Servoing for Robots”, First Int. Sym posium on Experimental Robotics, Montreal, Canada, June 1989.

    Google Scholar 

  10. B. Espiau, R. Boulic, “Collision Avoidance for Redundant Robots with Proximity Sensorsrd, Third Int. Symposium on Robotics Research, Gouvieux, pp. 243–251, MIT Press, Cambridge, October 1985.

    Google Scholar 

  11. B. Espiau, P. Rives, “Closed-Loop Recursive Estimation of 3D Features for a Mobile Vision System”, IEEE Int. Conf. on Robotics and Automation, Raleigh, North Carolina, USA, Vol. 3, pp. 1436–1443, April 1987.

    Google Scholar 

  12. B. Espiau, “Sensory-based Control: Robustness Issues and Modeling Techniques; Application to Proximity Sensing”, NATO Advanced Research Workshop on Kine matic and Dynamic Issues in Sensor-based Control, Il Ciocco, Italy, pp. 3–44, October 1987.

    Google Scholar 

  13. J. T. Feddema, C. S. G. Lee and O. R. Mitchell, “Automatic selection of image features for visual servoing of a robot manipulator”, IEEE Int. Conf. on Robotics and Automation, Scottsdale, Arizona, USA, Vol. 2, pp. 832–837, May 1989.

    Google Scholar 

  14. J. T. Feddema, O. R. Mitchell, “Vision-Guided Servoing with Feature-Based Trajectory Generation”, IEEE Trans. on Robotics and Automation, Vol. 5, n. 5, pp. 691–700, October 1989.

    Google Scholar 

  15. C. L. Fennema, W. B. Thomson, “Velocity Determination in Scenes Containing Several Moving Objects”, Computer Graphics and Image Processing, Vol. 9, pp. 301–315, 1979.

    Google Scholar 

  16. A. Flynn, “Combining Sonar and Infrared Sensors for Mobile Robot Navigation”, Int. Journal of Robotics Research, Vol 7, n. 6, pp. 5–14, December 1988.

    Google Scholar 

  17. A. L. Gilbert and al., “A Real-Time Video Tracking System”, IEEE Trans. on Pattern Analysis and Machine Intelligence, Vol. 2, n. 1, pp. 47–56, January 1980.

    Google Scholar 

  18. M. Kabuka, E. McVey, P. Shironoshita, “An Adaptive Approach to Video Tra cking”, IEEE Journal of Robotics and Automation, Vol. 4, n. 2, pp. 228–236, April 1988.

    Google Scholar 

  19. P. Rives, “Dynamic vision: theoretical capabilities and practical problems”, NATO Workshop on Kinematic and Dynamic Issues in Sensor Based Control, Italy, pp. 251–280, October 1987.

    Google Scholar 

  20. P. Rives, F. Chaumette, B. Espiau, “Visual Servoing Based on a Task Function Approach”, First Int. Symposium on Experimental Robotics, Montréal, Canada, June 1989.

    Google Scholar 

  21. C. Samson, “Une approche pour la synthèse et l'analyse de la commande des robots manipulateurs”, INRIA Research Report, n. 669, May 1987.

    Google Scholar 

  22. C. Samson, B. Espiau, M. Le Borgne, “Robot Redundancy: an Automatic Control Approach”, NATO Advanced Research Workshop on Robots with Redundancy, Salo, Italia, June 1988.

    Google Scholar 

  23. C. Samson, B. Espiau, “Application of the Task Function Approach to Sensor-Based-Control of Robot Manipulators”, IFAC, Tallin, USSR, July 1990.

    Google Scholar 

  24. C. Samson, B. Espiau, M. Le Borgne, Robot Control: the Task Function Approach. Oxford University Press, 1991.

    Google Scholar 

  25. A. C. Sanderson, L. E. Weiss, “Image Based Visual Servo Control Using Relational Graph Error Signal”, Int. Conf. on Cybernetics and Society, Cambridge, MA, IEEE SMC, pp 1074–1077, October 1980.

    Google Scholar 

  26. A. C. Sanderson, L. E. Weiss, “Adaptive Visual Servo Control of Robots”, Reprinted in Robot Vision. A. Pugh, Ed. Bedford, UK:IFS Pub. Ltd., pp. 107–116, 1983.

    Google Scholar 

  27. M. Spivak, A comprehensive introduction to differential geometry. Publish or Perish, Boston, 1970.

    Google Scholar 

  28. C. Wampler, “Multiprocessor Control of a Telemanipulator with Optical Proximity Sensors”, Int. Journal of Robotics Research, Vol. 3, n. 1, pp. 40–50, 1984.

    Google Scholar 

  29. L. E. Weiss, “Dynamic Visual Servo Control of Robots. An Adaptive Image based Approach”, Technical Report, CMU-RI-TR-84-16; Carnegie Mellon, 1984.

    Google Scholar 

  30. L. E. Weiss, A. C. Sanderson, “Dynamic Sensor-Based Control of Robots with Visual Feedback”, IEEE Journal of Robotics and Automation, Vol. 3, n. 5, pp. 404–417, October 1987.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. ISIA-ENSMP, rue Claude Daunesse, Sophia Antipolis, 06565, Valbonne, France

    Bernard Espiau

  2. IRISA/INRIA Rennes, campus de Beaulieu, 35042, Rennes-cedex, France

    François Chaumette

  3. INRIA Sophia Antipolis, 2004 Route des Lucioles, 06565, Valbonne, France

    Patrick Rives

Authors
  1. Bernard Espiau
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. François Chaumette
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Patrick Rives
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Christian Laugier

Rights and permissions

Reprints and permissions

Copyright information

© 1993 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Espiau, B., Chaumette, F., Rives, P. (1993). A new approach to visual servoing in robotics. In: Laugier, C. (eds) Geometric Reasoning for Perception and Action. GRPA 1991. Lecture Notes in Computer Science, vol 708. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-57132-9_8

Download citation

  • DOI: https://doi.org/10.1007/3-540-57132-9_8

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-57132-2

  • Online ISBN: 978-3-540-47913-0

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation