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Asservissement visuel coordonné de deux bras manipulateurs

Renliw Fleurmond 1
1 LAAS-RAP - Équipe Robotique, Action et Perception
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : We address the problem of coordinating a dual arm robot using one or several cameras. After proposing an overview of the control techniques dedicated to this problem, we develop a formalism allowing to coordinate the motions of several arms thanks to multicameras image based visual servoing. Our approach allows to benefit from the natural redundancy provided by the robotic system to take into account useful constraints such as joint limits and occlusions avoidance. We propose a strategy to deal with these tasks simultaneously. Finally, to make our control more robust with respect to image losses, we reconstruct the structure of the manipulated objects and the corresponding visual features. To validate our approach, we use the formalism to make the dual arm PR2 robot recap a pen. Simulations and experimental results are provided.
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  • HAL Id : tel-01280180, version 1

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Renliw Fleurmond. Asservissement visuel coordonné de deux bras manipulateurs. Robotique [cs.RO]. Universite Toulouse III Paul Sabatier, 2015. Français. ⟨tel-01280180⟩

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