Highly Precise Micropositioning Task using a Direct Visual Servoing Scheme

摘要：

This paper demonstrates accurate micropositioning scheme based on a direct visual servoing process. This technique uses only the pure image signal (photometric information) to design the control law. With respect to traditional visual servoing approaches that use geometric visual features (points, lines ...), the visual features used in the control law are the pixel intensity. The proposed approach was tested in term of accuracy and robustness in several experimental conditions. The obtained results have demonstrated a good behavior of the control law and very good positioning accuracy. The obtained accuracies are estimated to 14 nm, 89 nm, and 0.001 degrees in the x, y and θ axes of positioning platform, respectively.

作者: B. Tamadazte G. Duceux N. Le-Fort Piat E. Marchand

作者单位: FEMTOST Institute,UMR CNRS 6174-UFC/ENSMM/UTBM.Automatic Control and Micro-Mechatronic Systems Depar Universit(e) de Rennes 1,IRISA,INRIA Rennes-Bretagne Atlantique,Lagadic research group,Rennes 35042,

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5689-5694

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）