Oct 29 - Nov 2, 2007, Sheraton Hotel, San Diego, CA, USA
  

2007 IROS Paper Abstract

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Paper TuD8.2

Bilen, Hakan (Sabanci University), Hocaoglu, Muhammet (Sabanci University), Ozgur, Erol (Sabanci University), Unel, Mustafa (Sabanci University), Sabanovic, Asif (Sabanci University)

A Comparative Study of Conventional Visual Servoing Schemes in Microsystem Applications

Scheduled for presentation during the Regular Sessions "Visual Servoing I" (TuD8), Tuesday, October 30, 2007, 16:20−16:40, Nautilus 3

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 29 - Nov 2, 2007, Sheraton Hotel, San Diego, CA, USA

This information is tentative and subject to change. Compiled on April 16, 2014

Keywords Visual Servoing, Visual Tracking, Micro-manipulation

Abstract

This 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.

 

 

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