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Comparative Performance Analysis of Image-based and Position – Based Visual Servoing in a 6 Dof Manipulator
| Content Provider | Semantic Scholar |
|---|---|
| Author | Muñoz, Gloria Liliana López Motta, José Maurício Santos Torres Da |
| Copyright Year | 2014 |
| Abstract | The development of control systems based on visual information has increased in recent years, especially the control of robotic manipulators in locating and grasping tasks. There are two main approaches of Visual Servoing Control: Image-Based (IBVS) and Position-Based (PBVS). This article presents the implementation of these two approaches in order to make a comparative analysis, mostly based on stability, flexibility and robustness issues on the systems performance. In this work a monocular camera was placed on the 6 DOF manipulator end-effector in an eyein-hand configuration, and target objects was supposed to be plane. The results obtained from the system for each type of control are achieved by implementing both control strategies in a real environment using a IRB-140 ABB Robot to comparatively quantify the system performance in terms of processing speed, tracking and position accuracy. Furthermore, the results can bring about optimized conditions in which each of both control strategies could be the best choice for a sort of applications. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.abcm.org.br/upload/files/PI_IV_07(1).pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
