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

Hindawi Publishing Corporation Journal of Robotics Volume 2012, Article ID 103954, 11 pages doi:10.1155/2012/103954 Research Article A Comparison between Position-Based and Image-Based Dynamic Visual Servoings in the Control of a Translating Parallel Manipulator G. Palmieri,1 M. Palpacelli,2 M. Battistelli,2 and M. Callegari2 1 Facolta di Ingegneria, Universita degli Studi e-Campus, 22060 Novedrate, Italy ` ` 2 Dipartimento di Ingegneria Industriale e Scienze Matematiche, Universita Politecnica delle Marche, 60121 Ancona, Italy ` Correspondence should be addressed to G. Palmieri, giacomo.palmieri@uniecampus.it Received 9 November 2011; Accepted 31 January 2012 Academic Editor: Huosheng Hu Copyright © 2012 G. Palmieri et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. 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. 1. Introduction