A comparison between Position Based and Image Based Visual Servoing on a 3 DOFs translating robot
نویسندگان
چکیده
Two Visual Servoing controls respectively of the Position Based and Image Based type have been developed to govern a parallel translating manipulator with an eye-in-hand configuration. The robot must be able to reach and grasp a special target randomly positioned in the workspace; the control must be adaptive to compensate motions of the target in the 3D space. The implemented trajectory planning strategy ensures the continuity of the velocity vector in the Cartesian space for both PBVS and IBVS controls whereas a replanning event is needed. A comparison between the two approaches is given in terms of accuracy, fastness and stability in relation to the robot peculiar characteristics.
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