A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator
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 mus...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2012-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2012/103954 |
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| _version_ | 1849402907823177728 |
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| author | G. Palmieri M. Palpacelli M. Battistelli M. Callegari |
| author_facet | G. Palmieri M. Palpacelli M. Battistelli M. Callegari |
| author_sort | G. Palmieri |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-98daa7e35e7e4a748eaf3069a87a22d2 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-98daa7e35e7e4a748eaf3069a87a22d22025-08-20T03:37:23ZengWileyJournal of Robotics1687-96001687-96192012-01-01201210.1155/2012/103954103954A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel ManipulatorG. Palmieri0M. Palpacelli1M. Battistelli2M. Callegari3Facoltà di Ingegneria, Università degli Studi e-Campus, 22060 Novedrate, ItalyDipartimento di Ingegneria Industriale e Scienze Matematiche, Università Politecnica delle Marche, 60121 Ancona, ItalyDipartimento di Ingegneria Industriale e Scienze Matematiche, Università Politecnica delle Marche, 60121 Ancona, ItalyDipartimento di Ingegneria Industriale e Scienze Matematiche, Università Politecnica delle Marche, 60121 Ancona, ItalyTwo 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.http://dx.doi.org/10.1155/2012/103954 |
| spellingShingle | G. Palmieri M. Palpacelli M. Battistelli M. Callegari A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator Journal of Robotics |
| title | A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator |
| title_full | A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator |
| title_fullStr | A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator |
| title_full_unstemmed | A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator |
| title_short | A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator |
| title_sort | comparison between position based and image based dynamic visual servoings in the control of a translating parallel manipulator |
| url | http://dx.doi.org/10.1155/2012/103954 |
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