Robust decoupled visual servoing based on structured light
dc.contributor.author
dc.date.accessioned
2010-05-11T09:54:20Z
dc.date.available
2010-05-03T15:14:14Z
2010-05-11T09:54:20Z
dc.date.issued
2005
dc.identifier.citation
Pagès, J., Collewet, C., Chaumette, F., i Salvi, J. (2005). IEEE/RSJ International Conference on Intelligent Robots and Systems : 2005 : IROS 2005, 2399-2404. Recuperat 11 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1545380
dc.identifier.isbn
0-7803-8912-3
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dc.description.abstract
This paper focuses on the problem of realizing a plane-to-plane virtual link between a camera attached to the end-effector of a robot and a planar object. In order to do the system independent to the object surface appearance, a structured light emitter is linked to the camera so that 4 laser pointers are projected onto the object. In a previous paper we showed that such a system has good performance and nice characteristics like partial decoupling near the desired state and robustness against misalignment of the emitter and the camera (J. Pages et al., 2004). However, no analytical results concerning the global asymptotic stability of the system were obtained due to the high complexity of the visual features utilized. In this work we present a better set of visual features which improves the properties of the features in (J. Pages et al., 2004) and for which it is possible to prove the global asymptotic stability
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
IEEE
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Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2005.1545380
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© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2005 : IROS 2005, 2005, p. 2399-2404
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
Robust decoupled visual servoing based on structured light
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi