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titleA Comparative Study of Conventional Visual Servoing Schemes in Microsystem Applications
authorsH. Bilen, M. Hocaoglu, E. Ozgur, M. Unel, A. Sabanovic
keywordsvisual servoing, microsystem, calibration, Jacobian
abstractThis paper presents an experimental comparison of conventional (calibrated and uncalibrated) image based visual servoing methods in various microsystem applications. Both visual servoing techniques were tested on a microassembly workstation, and their regulation and tracking performances are evaluated. Calibrated visual servoing demands the optical system calibration for the image Jacobian estimation and if a precise optical system calibration is done, it ensures a better accuracy, precision and settling time compared with the uncalibrated approach. On the other hand, in the uncalibrated approach, optical system calibration is not required and since the Jacobian is estimated dynamically, it is more flexible.
typeConference Paper
journalProceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, (IEEE IROS 2007)
published year2007
serial1894
is_viewableno
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