A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator | Zendy

Giacomo Palmieri | Zendy; Matteo-Claudio Palpacelli | Zendy; M. Battistelli | Zendy; Massimo Callegari | Zendy

Open Access

A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator

Author(s) -

Giacomo Palmieri,

Matteo-Claudio Palpacelli,

M. Battistelli,

Massimo Callegari

Publication year - 2012

Publication title -

journal of robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.303

H-Index - 14

eISSN - 1687-9619

pISSN - 1687-9600

DOI - 10.1155/2012/103954

Subject(s) - visual servoing , workspace , computer science , grasp , position (finance) , controller (irrigation) , computer vision , artificial intelligence , control theory (sociology) , image (mathematics) , trajectory , robot , relation (database) , visual control , manipulator (device) , parallel manipulator , control (management) , physics , finance , astronomy , database , agronomy , economics , biology , programming language

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.

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