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N. Mansard, F. Chaumette. Tasks sequencing for visual servoing. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04, Volume 1, Pages 992-997, Sendai, Japan, September 2004.

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Classical visual servoing approaches tend to constrain all degrees of freedom (DOF) of the robot during a task s execution. This may lead to singularities, force the robot into its joint limits or allow the visual features to leave the image. In this article a new approach is proposed. The key idea of this work is to control the robot with a very under-constrained task when it is far of the desired position, and to incrementally constrain the global task by adding further tasks as the robot moves closer to the goal. A method is first proposed that stacks elementary tasks until the robot is fully constrained. To insure the continuity of the articular velocities when adding constraints, a new control law is then proposed. Experiments that prove the interest of the approach are also provided


Francois Chaumette

BibTex Reference

   Author = {Mansard, N. and Chaumette, F.},
   Title = {Tasks sequencing for visual servoing},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04},
   Volume = {    1},
   Pages = {992--997},
   Address = {Sendai, Japan},
   Month = {September},
   Year = {2004}

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