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

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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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
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Mustafa Ünel
Date Deposited: 24 Oct 2007 20:56
Last Modified: 26 Apr 2022 08:41

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