We propose a method for visual control of a robotic system which does not require the formulation of an explicit calibration between image space and the world coordinate system. Calibration is known to be a difficult and error prone process. By extracting control information directly from the image, we free our technique from the errors normally associated with a fixed calibration. We demonstra...

In this paper we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allows us to define a new representation, the so-called binormalized Plücker coordinates. They are particularly well suited for visual servoing. Indeed, they allow the definition of an image line alignment concept. Moreover, the contro...

This paper investigates sequential robotic microassembly for the construction of 3D micro-electro-mechanical systems (MEMS) structures using a 3D visual servoing approach. The previous solutions proposed in the literature for these kinds of problems are based on 2D visual control because of the lack of precise and robust 3D measures from the work scene. In this paper, the relevance of the real-...

In this paper, a method to combine visual and force information using the information obtained from the movement flow-based visual servoing system is proposed. This method allows not only to achieve a given desired position but also to specify the trajectory that the robot will follow from its initial position to its final one in the 3D space. This paper also extends the visual servoing system ...

BACKGROUND Although high intensity focused ultrasound (HIFU) is a promising technology for tumor treatment, a moving abdominal target is still a challenge in current HIFU systems. In particular, respiratory-induced organ motion can reduce the treatment efficiency and negatively influence the treatment result. In this research, we present: (1) a methodology for integration of ultrasound (US) ima...

This paper presents the visual servoing of a 6 DOF manipulator for unknown 3D profile following. The profile has an unknown curvature, but its cross-section is known. The visual servoing keeps the transformation between a cross-section of the profile and the camera constant with respect to 6 degrees of freedom. The position of the profile with respect to only five degrees of freedom can be meas...

This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm for visual servoing. A virtual visual servoing approach is used for 3D tracking. This method is similar to more classical nonlinear pose computation techniques. Robustness is obtained by integrating an M-estimator into the virtual visual control law via an iteratively re-weighted least squares implementation...

This paper describes an adaptive and autocalibrated method to track surfaces. To do so, a non time dependent impedance control system is proposed. This method fuses visual and force information to track a given trajectory maintaining the contact with the surface. The main contribution of the visual servoing approach employed by the impedance control system is the possibility of carrying out the...

In the classical image-based visual servoing framework, error signals are directly computed from image feature parameters, allowing, in principle, control schemes to be obtained that need neither a complete three-dimensional (3D) model of the scene nor a perfect camera calibration. However, when the computation of control signals involves the interaction matrix, the current value of some 3D par...

Small movements of a viewer relative to the surrounding scene induce deformations in the shape and detail of the projected image. This paper will consider the problem of using these deformations to provide visual feedback on the current position of the viewer relative to the scene. The implementation calculates the transformations that occur due to small movements around the current position. I...