Abstract:
This paper presents a theoretical comparison of the stability and robustness of the two basic visual servoing methods, image-based and position-based visual servoing. A c...Show MoreMetadata
Abstract:
This paper presents a theoretical comparison of the stability and robustness of the two basic visual servoing methods, image-based and position-based visual servoing. A common framework for comparison based on the energy shaping plus damping injection methodology is presented. Previous stability results for the image-based method are extended to show the robustness of stability with respect to camera and target modeling, errors. Similar stability and robustness analyses are extended to the analysis of the position-based method. It is shown that both methods are locally asymptotically stable and robust with respect to camera and target modeling errors. However the stability boundary with respect to above errors has not been established.
Published in: Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
Date of Conference: 11-15 May 2002
Date Added to IEEE Xplore: 07 August 2002
Print ISBN:0-7803-7272-7