3D Motion Planning for Image-Based Visual Servoing Tasks

摘要

The execution of positioning tasks by using image-based visual servoing can be easier if a trajectory planning mechanism exists. This paper deals with the problem of generating image plane trajectories (a trajectory is made of a path plus a time law) for tracked points in an eye-in-hand system which has to be positioned with respect to a fixed object. The generated image plane paths must be feasible i.e. they must be compliant with rigid body motion of the camera with respect to the object so as to avoid image jacobian singularities and local minima problems. In addition, the image plane trajectories must generate camera velocity screws which are smooth and within the allowed bounds of the robot. We show that a scaled 3D motion planning algorithm can be devised in order to generate feasible image plane trajectories.