The task function approach applied to vision-based control

@article{Chaumette1991TheTF,
  title={The task function approach applied to vision-based control},
  author={François Chaumette and P. Rives and Bernard Espiau},
  journal={Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments},
  year={1991},
  pages={1392-1397 vol.2}
}
This paper describes some concepts and results related to the vision-based control approach in robotics. The basic idea consists in considering a vision system as a specific sensor dedicated to a task and included in a control servo-loop. Once the necessary modeling stage is performed, the framework becomes the one of automatic control, and, naturally, stability and robustness questions arise. Starting from the task function approach, the general framework of the control is described, and some… CONTINUE READING

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