Potential problems of unstability and divergence in image-based and position-based visual servoing

Visual servoing, using image-based control or position-based control, generally gives satisfactory results. However, in some cases, convergence and stability problems may occur. The aim of this paper is to emphasize these problems by considering an eye-in-hand system and a positioning task with respect to a static target which constrains the six camera degrees of freedom.

[1]  Lee E. Weiss,et al.  Dynamic sensor-based control of robots with visual feedback , 1987, IEEE Journal on Robotics and Automation.

[2]  Radu Horaud,et al.  New Methods for Matching 3-D Objects with Single Perspective Views , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[3]  Patrick Rives,et al.  A new approach to visual servoing in robotics , 1992, IEEE Trans. Robotics Autom..

[4]  Claude Samson,et al.  Robot Control: The Task Function Approach , 1991 .

[5]  Patrick Rives,et al.  Singularities in the determination of the situation of a robot effector from the perspective view of 3 points , 1993 .

[6]  Bernard Espiau,et al.  Effect of Camera Calibration Errors on Visual Servoing in Robotics , 1993, ISER.

[7]  Takeo Kanade,et al.  Visual tracking of a moving target by a camera mounted on a robot: a combination of control and vision , 1993, IEEE Trans. Robotics Autom..

[8]  Peter K. Allen,et al.  Automated tracking and grasping of a moving object with a robotic hand-eye system , 1993, IEEE Trans. Robotics Autom..

[9]  Tae Won Kim,et al.  Visual Servoing of Robot Manipulators by Fuzzy Membership Function Based Neural Networks , 1993 .

[10]  Patrick Rives,et al.  Classification and realization of the different vision-based tasks , 1993 .

[11]  Hidenori Kimura,et al.  Dynamic Visual Servoing with Nonlinear Model-Based Control , 1993 .

[12]  Minoru Asada,et al.  Versatile visual servoing without knowledge of true Jacobian , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[13]  Pradeep K. Khosla,et al.  The resolvability ellipsoid for visual servoing , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[14]  Nikolaos Papanikolopoulos,et al.  Computation of shape through controlled active exploration , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[15]  Rajeev Sharma,et al.  Optimizing hand/eye configuration for visual-servo systems , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[16]  Pradeep K. Khosla,et al.  Strategies for Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance , 1995, Int. J. Robotics Res..

[17]  Nikolaos Papanikolopoulos,et al.  Selection of features and evaluation of visual measurements during robotic visual servoing tasks , 1995, J. Intell. Robotic Syst..

[18]  Samia Boukir,et al.  Structure From Controlled Motion , 1996, IEEE Trans. Pattern Anal. Mach. Intell..

[19]  Peter I. Corke,et al.  A tutorial on visual servo control , 1996, IEEE Trans. Robotics Autom..

[20]  Éric Marchand,et al.  Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[21]  William J. Wilson,et al.  Relative end-effector control using Cartesian position based visual servoing , 1996, IEEE Trans. Robotics Autom..

[22]  Gregory D. Hager,et al.  A modular system for robust positioning using feedback from stereo vision , 1997, IEEE Trans. Robotics Autom..

[23]  Olac Fuentes,et al.  Experimental evaluation of uncalibrated visual servoing for precision manipulation , 1997, Proceedings of International Conference on Robotics and Automation.

[24]  François Chaumette,et al.  Positioning a coarse-calibrated camera with respect to an unknown object by 2D 1/2 visual servoing , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[25]  E. Malis,et al.  2 1/2 D Visual Servoing , 1999 .