Notas: Up to now, different methods have been proposed to track trajectories using visual servoing systems.
However, when these approaches are employed to track trajectories specified with respect to moving objects,
different considerations must be included in the visual servoing formulation to progressively decrease the
tracking error. This paper shows the main properties of a non-time dependent visual servoing system to track
image trajectories. The control action obtained integrates the motion estimation of the object from which the
features are extracted. The proposed motion estimator employs information from the measures of the
extracted features and from the variation of the camera locations. These variations are obtained determining
the Homography matrix between consecutive camera frames.
This work was funded by the Spanish MCYT project
DPI2005-06222 “Diseño, implementación y
experimentación de escenarios de manipulación inteligentes para aplicaciones de ensamblado y
desensamblado automático” and by the project
GV05/007: “Diseño y experimentación de
estrategias de control visual-fuerza para sistemas
flexibles de manipulación”.