Two different visual servoing controls have been developed to govern a translating parallel manipulator with an eye-in-hand\r\nconfiguration, That is, a position-based and an image-based controller. The robot must be able to reach and grasp a target\r\nrandomly positioned in the workspace; the control must be adaptive to compensate motions of the target in the 3D space. The\r\ntrajectory planning strategy ensures the continuity of the velocity vector for both PBVS and IBVS controls, whereas a replanning\r\nevent is needed. A comparison between the two approaches is given in terms of accuracy, fastness, and stability in relation to the\r\nrobot peculiar characteristics.
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