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Note that a similar approach using conventional camera has been proposed by
Malis and Chaumette in [16] in order to enhance the stability domain. However, an
adaptivecontrollawhastobeusedinorder that the reference point remains in the
camera field of view during the servoing task. This is not a crucial issue in our case
since our approach can be used with a large field of view.
16.4
Results
The proposed hybrid visual servoing schemes have been validated with a series of
experiments. They were carried out on a 6 DOF manipulator robot in eye-in-hand
configuration. A fisheye camera is mounted on the end-effector of the robot (see
Figure 16.2). The estimated camera calibration parameters are
ξ
= 1
.
634, f u = 695,
4. In order to simplify the features
extraction and tracking, the target is composed of a set of white marks printed into a
black background. These marks are tracked and their centers of gravity are extracted
using the VISP library [18]. The experiments are detailed in the sequel by denoting
with:
f v = 694
.
9,
α uv = 0, u 0 = 400
.
4and v 0 = 304
.
A the 2D point-based control law;
B the hybrid scheme presented in Section 16.3.3.2;
C the hybrid scheme presented in Section 16.3.3.3; and
D the hybrid scheme presented in Section 16.3.3.4.
Experiment 1 . A large generic displacement is considered. It is composed of a trans-
lation t =[80 80
u =[050140] deg. The behaviors
of the proposed control schemes are compared with conventional IBVS. Since a
very large rotation about the Z -axis (around 140 deg) is considered, the control A
40] cm and of a rotation
θ
Fig. 16.2 Experimental setup: eye-in-hand configuration
 
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