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Points-based Visual Servoing with Central Cameras

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Visual Servoing via Advanced Numerical Methods

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 401))

Abstract

This chapter concerns hybrid visual servoing schemes from a set of points viewed by central camera. The main purpose is to decouple the velocity commands in order to obtain an adequate camera trajectory. The proposed schemes are modelfree since they are based on the homography matrix between two views. The rotational motions are controlled using the estimated orientation between the current and the desired positions of the robot, while the translational motions are controlled using the combination between image points (onto the sphere or into the normalized plane) and 3D information extracted from the homography matrix. Real-time experimental results with a cartesian manipulator robot are presented and show clearly the decoupling properties of the proposed approaches.

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Authors and Affiliations

  1. LASMEA, University Blaise Pascal, Campus des Cezeaux, 63177, Aubiere, France

    Hicham Hadj-Abdelkader, Youcef Mezouar & Philippe Martinet

Authors
  1. Hicham Hadj-Abdelkader
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  2. Youcef Mezouar
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  3. Philippe Martinet
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Editor information

Editors and Affiliations

  1. Department of Electrical and Electronic Engineering, University of Hong Kong, Pokfulam Road, Hong Kong, China, People’s Republic

    Graziano Chesi

  2. Dept. System Information Sciences, Tohoku University, 6-6-01 Aramaki-Aza Aoba, 980-8579, Sendai, Aoba-ku, Japan

    Koichi Hashimoto

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© 2010 Springer London

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Hadj-Abdelkader, H., Mezouar, Y., Martinet, P. (2010). Points-based Visual Servoing with Central Cameras. In: Chesi, G., Hashimoto, K. (eds) Visual Servoing via Advanced Numerical Methods. Lecture Notes in Control and Information Sciences, vol 401. Springer, London. https://doi.org/10.1007/978-1-84996-089-2_16

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  • DOI: https://doi.org/10.1007/978-1-84996-089-2_16

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-84996-088-5

  • Online ISBN: 978-1-84996-089-2

  • eBook Packages: EngineeringEngineering (R0)

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