VISUALLY GUIDED OBJECT GRASPING

In this paper, we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end -effector with an object. First we extend the method proposed in [1] t o the case of a camera which is not mounted onto the robot being contr olled and we stress the importance of the real-time estimation of the image Jacobia., Second, me show how to represent a grasp or more gener ally, an alignment between two solids in three-dimensional (3-D) proje ctive space using an uncalibrated stereo rig. Such a 3-D projective re presentation is view-invariant in the sense that it can be easily mapp ed into an image set-point without any knowledge about the camera para meters. Third, we perform an analysis of the performances of the visua l servoing algorithm and of the grasping precision that can be expecte d from this type of approach.