%0 Conference Proceedings
%F Flandin00a
%A Flandin, G.
%A Chaumette, F.
%A Marchand, E.
%T Eye-in-hand / eye-to-hand cooperation for visual servoing
%B IEEE Int. Conf. on Robotics and Automation, ICRA'00
%V 	 3
%P 2741-2746
%C San Francisco, California
%X The use of a camera in a robot control loop can be performed with two types of architecture: the camera is said eye-in-hand when rigidly mounted on the robot end-effector and it is said eye-to-hand when it observes the robot within its work space. These two schemes have technical differences and they can play very complementary parts. Obviously, the eye-in-hand one has a partial but precise sight of the scene whereas the eye-to-hand camera has a less precise but global sight of it. The motivation of our work is to take advantage of both, free-standing and robot-mounted sensors, in a cooperation scheme. The system we present in this paper performs two separate tasks: a positioning one that is ensured in the global image and a tracking one performed in the local image. For robustness considerations, the control law stability is proved and several cooperative schemes are studied and compared in experimental results
%U http://rainbow-doc.irisa.fr/pdf/2000_icra_flandin.pdf
%U http://dx.doi.org/10.1109/ROBOT.2000.846442
%8 April
%D 2000