Model-Based vs. Model-Free Visual Servoing: A Performance Evaluation in Microsystems
M. Hocaoglu, H. Bilen, E. Ozgur, M. Unel
The 13th IASTED International Conference on Robotics and Applications (RA’07)
In this paper, model-based and model-free image based visual servoing (VS) approaches are implemented on a microassembly workstation, and their regulation and tracking performances are evaluated. A precise image based VS relies on computation of the image jacobian. In the modelbased visual servoing, the image Jacobian is computed via calibrating the optical system. Precisely calibrated model based VS promises better positioning and tracking performance than the model-free approach. However, in the model-free approach, optical system calibration is not required due to the dynamic Jacobian estimation, thus it has the advantage of adapting to the different operating modes.