A Comparative study of conventional visual servoing schemes in microsystem applications

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Bilen, Hakan and Hocaoğlu, Muhammet Ali and Özgür, Erol and Ünel, Mustafa and Şabanoviç, Asif (2007) A Comparative study of conventional visual servoing schemes in microsystem applications. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, USA

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Official URL: https://ras.papercept.net/conferences/scripts/abstract.pl?ConfID=8&Number=280


This paper presents an experimental comparison of conventional (calibrated and uncalibrated) image based visual servoing methods in various microsystem applications. Both visual servoing techniques were tested on a microassembly workstation, and their regulation and tracking performances are evaluated. Calibrated visual servoing demands the optical system calibration for the image Jacobian estimation and if a precise optical system calibration is done, it ensures a better accuracy, precision and settling time compared with the uncalibrated approach. On the other hand, in the uncalibrated approach, optical system calibration is not required and since the Jacobian is estimated dynamically, it is more flexible.

Item Type:Papers in Conference Proceedings
Subjects:Q Science > QA Mathematics
ID Code:5633
Deposited By:Mustafa Ünel
Deposited On:26 Oct 2007 14:20
Last Modified:22 May 2019 12:05

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