Two different visual servoing controls have been developed to govern a translating parallel manipulator with an eye-in-hand configuration, That is, a position-based and an image-based controller. The robot must be able to reach and grasp a target randomly positioned in the workspace; the control must be adaptive to compensate motions of the target in the 3D space. The trajectory planning strategy ensures the continuity of the velocity vector 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.
A comparison between Position Based and Image Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator / Palmieri, Giacomo; Palpacelli, MATTEO CLAUDIO; M., Battistelli; Callegari, Massimo. - In: JOURNAL OF ROBOTICS. - ISSN 1687-9600. - ELETTRONICO. - 2012:(2012), p. Article ID 103954. [10.1155/2012/103954]
A comparison between Position Based and Image Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator
PALMIERI, GIACOMO;PALPACELLI, MATTEO CLAUDIO;CALLEGARI, Massimo
2012-01-01
Abstract
Two different visual servoing controls have been developed to govern a translating parallel manipulator with an eye-in-hand configuration, That is, a position-based and an image-based controller. The robot must be able to reach and grasp a target randomly positioned in the workspace; the control must be adaptive to compensate motions of the target in the 3D space. The trajectory planning strategy ensures the continuity of the velocity vector 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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
