Model-based vs. model-free visual servoing: A Performance evaluation in microsystems

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Hocaoğlu, Muhammet Ali and Bilen, Hakan and Özgür, Erol and Ünel, Mustafa (2007) Model-based vs. model-free visual servoing: A Performance evaluation in microsystems. In: The 13th IASTED International Conference on Robotics and Applications (RA’07) , Würzburg, Germany

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Official URL: http://www.actapress.com/Abstract.aspx?paperId=31317


In this paper, model-based and model-free image based visual servoing (VS) approaches are implemented on a microassembly workstation, and their regulation and tracking performances are evaluated. A precise image based VS relies on computation of the image jacobian. In the model-based visual servoing, the image Jacobian is computed via calibrating the optical system. Precisely calibrated model based VS promises better positioning and tracking performance than the model-free approach. However, in the model-free approach, optical system calibration is not required due to the dynamic Jacobian estimation, thus it has the advantage of adapting to the different operating modes.

Item Type:Papers in Conference Proceedings
Uncontrolled Keywords:Visual servoing, Visual tracking, Micropositioning
Subjects:Q Science > QA Mathematics
ID Code:5640
Deposited By:Mustafa Ünel
Deposited On:24 Oct 2007 20:56
Last Modified:23 Feb 2010 15:22

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