Visual feedback in camera motion generation :

In this paper, we propose several results about trajec-tory generation by visual servoing. The approach consists in deening a speciic task function which allows us to take into account the time varying aspect of the reference feature and we synthesize a control law in the sensor space. This control law ensures the trajectory control in the image space and reduces the tracking error. Under speciic conditions, the trajectory of the camera can be ensured in the robot workspace. The main goal of this work is to demonstrate the eeectiveness of this approach through experimental results. During experiments , we have used a cartesian robot and a real time vision system. A CCD camera is mounted on the end eeector of the robot. We present two types of trajectory. The rst is an helical trajectory parallel to a cube side. The second experiments consists in passing around a cube. This last trajectory is built by linking several elementary trajectories (rotation and translation).