Eye-in-hand/eye-to-hand cooperation for visual servoing

G. Flandin, F. Chaumette, E. Marchand
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)  
The use of a camera in a robot control loop can be performed with two types of architecture: the camera is said eye-in-hand when rigidly mounted on the robot end-effector and it is said eyeto-hand when it observes the robot within its work space. These two schemes have technical differences and they can play very complementary parts. Obviously, the eye-in-hand one has a partial but precise sight of the scene whereas the eye-to-hand camera has a less precise but global sight of it. The
more » ... of our work is to take advantage of both, free-standing and robotmounted sensors, in a cooperation scheme. The system we present in this paper performs two separate tasks: a positioning one that is ensured in the global image and a tracking one performed in the local image. For robustness considerations, the control law stability is proved and several cooperative schemes are studied and compared in experimental results.
doi:10.1109/robot.2000.846442 dblp:conf/icra/FlandinCM00 fatcat:6uw3pgjorreenpv56tjx5xue4a