Visual Servoing in Robotics Scheme Using a Camera/Laser-Stripe Sensor

Abstract

: The work presented in this paper fits into the realm of robotics and computer vision. The problem we seek to solve is the accomplishment of robotics tasks by using visual information provided by a particular sensor, mounted on a robot end effector. This sensor consists of two laser stripes fixed rigidly to a camera, projecting light planar on the scene. First, we explain the approaches employed in robot control, using information provided by a vision sensor. More specifically, we explain the visual servoing approach, which corresponds to the one we have developed. Then, we express the modelling of visual information from a scene consisting of spherical objects, by using several representations in the image. This modelling permits us to establish a relation between the variations of visual information and camera velocities. Finally, both in simulation and in our experimental cell, results are presented. They concern the positioning task with respect to a sphere, and show the robustnes..