A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator
Joint Authors
Palpacelli, Matteo-Claudio
Palmieri, Giacomo
Callegari, Massimo
Battistelli, M.
Source
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-05-16
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Palmieri, Giacomo& Palpacelli, Matteo-Claudio& Battistelli, M.& Callegari, Massimo. 2012. A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator. Journal of Robotics،Vol. 2012, no. 2012, pp.1-11.
https://search.emarefa.net/detail/BIM-446635
Modern Language Association (MLA)
Palmieri, Giacomo…[et al.]. A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator. Journal of Robotics No. 2012 (2012), pp.1-11.
https://search.emarefa.net/detail/BIM-446635
American Medical Association (AMA)
Palmieri, Giacomo& Palpacelli, Matteo-Claudio& Battistelli, M.& Callegari, Massimo. A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator. Journal of Robotics. 2012. Vol. 2012, no. 2012, pp.1-11.
https://search.emarefa.net/detail/BIM-446635
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-446635