'Institute of Electrical and Electronics Engineers (IEEE)'
Abstract
In this paper, the so-called 2-D movement flowbased
visual servoing system is proposed, which allows the
tracking of trajectories planned in the image space. This
method is time-independent, which is useful when problems
such as obstructions occur during the tracking. This method
allows the tracking of image trajectories assuring the correct
behaviour in the 3-D space and avoiding the limitations of the
time-dependent systems used up to now for tracking
trajectories. This aspect has allowed its application to
manipulation tasks in which the trajectory can be obstructed
during the tracking.This work is partially supported by the Spanish MCYT project “DESAURO: Desensamblado Automático Selectivo para Reciclado mediante Robots
Cooperativos y Sistema Multisensorial” (DPI2002-02103)