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B. Tamadazte, G. Duceux, N. Lefort-Piat, E. Marchand. Highly Precise Micropositioning Task using a Direct Visual Servoing Scheme. In IEEE Int. Conf. on Robotics and Automation, ICRA'11, Pages 5689-5694, Shanghai, China, May 2011.

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This paper demonstrates a precise micropositioning scheme based on a direct visual servoing process. This technique uses only the pure image signal (photometric information) to design the control law. With respect to traditional visual servoing approaches that use geometric visual features, points, lines, ...), the visual features used in the control law is nothing but the pixel luminance. The proposed approach was tested in term of precision and robustness in several experimental conditions. The obtained results have demonstrated a good behavior of the control law and very good positioning precision. The obtained precisions are 89 nanometers, 14 nanometers, and 0.001 degrees in the x, y and theta axes of positioning platform, respectively


Eric Marchand

BibTex Reference

   Author = {Tamadazte, B. and Duceux, G. and Lefort-Piat, N. and Marchand, E.},
   Title = {Highly Precise Micropositioning Task using a Direct Visual Servoing Scheme},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'11},
   Pages = {5689--5694},
   Address = {Shanghai, China},
   Month = {May},
   Year = {2011}

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