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Contributions to control modeling in visual servoing, task redundancy, and joint limits avoidance.

Mohammed Marey 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Visual servoing has become a popular paradigm in robot control by exploiting the informa- tion provided by a vision sensor in a feedback control loop. The research described in this dissertation aims mainly to solve problems in visual servoing control and to improve the ability to consider more effectively additional tasks. This thesis presents the state of art in visual servoing, redundancy, and joint limits avoidance and the following contributions: A new first order control scheme obtained by introducing a behavior parameter in a hy- brid control matrix is first proposed. It allows a better behavior of the system when suitable values for the behavior parameter are satisfied. An analytical analysis of the most common control scheme and the new one is performed when the camera displacement is a combina- tion of a translation along and a rotation around the camera optical axis. New second order control schemes are also proposed to enhance the behavior of the system when the problem of reaching a desired singular configuration is considered. Theoretical contributions regarding redundancy-based task-priority are achieved by develop- ing a new projection operator obtained by considering only the norm of the main task. This leads to a less constrained problem and enlarges the applicability domain of redundancy- based task-priority. New strategies for redundancy-based robot joint limits avoidance are developed. The problem of adding additional secondary tasks to the main task while ensur- ing the joint limits avoidance is finally solved. All these works have been investigated experimentally using an eye-in-hand system and visual servoing applications.
keyword : Visual servoing
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  • HAL Id : tel-00589521, version 1

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Mohammed Marey. Contributions to control modeling in visual servoing, task redundancy, and joint limits avoidance.. Automatic. Université Rennes 1, 2010. English. ⟨tel-00589521⟩

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