Tasks sequencing for visual servoing

  title={Tasks sequencing for visual servoing},
  author={Nicolas Mansard and François Chaumette},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  pages={992-997 vol.1}
Classical visual servoing approaches tend to constrain all degrees of freedom (DOF) of the robot during a task's execution. In this article a new approach is proposed. The key idea is to control the robot with a very under-constrained task when it is far of the desired position, and to incrementally constrain the global task by adding further tasks as the robot moves closer to the goal. A method is first proposed that stacks elementary tasks until the robot is fully constrained. To insure the… CONTINUE READING
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