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TECHNICAL BRIEFS

Straight Line Path-Planning in Visual Servoing

[+] Author and Article Information
Graziano Chesi

Department of Electrical and Electronic Engineering, University of Hong Kong, Pokfulam Road, Hong Kongchesi@eee.hku.hk

Domenico Prattichizzo

Department of Information Engineering, University of Siena, Via Roma 56, 53100 Siena, Italyprattichizzo@dii.unisi.it

Antonio Vicino

Department of Information Engineering, University of Siena, Via Roma 56, 53100 Siena, Italyvicino@dii.unisi.it

J. Dyn. Sys., Meas., Control 129(4), 541-543 (Feb 05, 2007) (3 pages) doi:10.1115/1.2745882 History: Received October 07, 2005; Revised February 05, 2007

This paper deals with visual servoing for 6-degree-of-freedom robot manipulators, and considers the problem of establishing whether and how it is possible to reach the desired location while keeping all features in the field of view and following a straight line in the Euclidean space. A path-planning technique based on a parametrization of the camera path through polynomials is proposed, which overcomes existing methods dealing with this problem. The generated image trajectory can be tracked by using an image-based visual servoing controller.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

(a) Ideal case (scene); (b) ideal case (camera view); (c) presence of uncertainties case (scene)

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