Abstract.We describe an approach to contour following unknown objects using a handeye robotic system. Relevant and sufficient feature points providing optical flow data are extracted from the edges of the target object. The desired motion of the end-effector is computed with the objective of keeping thevisual features always at the same target location in the image plane. A cartesian PD controller is used to perform the desired motion by the robot's end-effector. To address the control issues, we take advantage of the unifying robot control theory stated in the literature as the task-function approach [21]. To validate our approach, we restricted our experiments to motionless objects positioned in a plane parallel to the image plane: three degrees of freedom (two of translation, one of rotation) are thus controlled.
The ICSC of this paper ddrrsper the following: Section 2 briefly reviews previour wortrr dut ddrcrc the issue of robotic visual rrvoing; Section 3 g k s 8 dctded daaiptioa of the defornubk model: Section 4 provides a p o o f of the Uabilii of the etrrtic model& as wcu as the methods uscd to sckctdynmicpuunctcn: Section 5 presents the p d u r e that estimates the desk4 motion of the cnd-cffector. Section 6 gives an overview of our robotic codguntionandimage pnxxssing hardwue; Section 7 prtscntsexperimenul result. of srvoingthe endcficuor around an object moving in a plane paralkl to the haage pluw (3-WF visual servoing).
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