VISUAL SERVOING IN ROBOTICS SCHEME USING A CAMERA LASER-STRIPE SENSOR/

The work presented in this paper belongs to the realm of robotics and computer vision, The problem we seek to solve is the accomplishment of robotics tasks using visual features provided by a special sensor, mo unted on a robot end effector, This sensor consists of two laser strip es fixed rigidly to a camera, projecting planar light on the scene. Fi rst, we briefly describe the classical visual servoing approach, We th en generalize this approach to the case of our special sensor by consi dering its interaction with respect to a sphere, This interaction perm its us to establish a kinematics relation between the sensor and the s cene. Finally, both in simulation and in our experimental cell, the re sults are presented, They concern the positioning task with respect to a sphere, and show the robustness and the stability of the control sc heme.