Volume 22 Issue 10/11- Publication Date: 1 October 2003
Performance Tests for Visual Servo Control Systems, with Application to Partitioned Approaches to Visual Servo Control
N.R. Gans, S.A. Hutchinson Department of Electrical and Computer Engineering, The Beckman Institute for Advanced Science and Technology, University of Illinois at Urbana-Champaign, 405 N. Mathews Avenue, Urbana, IL 61801, USA and P.I. Corke SIRO Manufacturing Science and Technology, Pinjarra Hills, AUSTRALIA 4069

Visual servoing has been a viable method of robot manipulator control for more than a decade. Initial developments involved position-based visual servoing (PBVS), in which the control signal exists in Cartesian space. The younger method, image-based visual servoing (IBVS), has seen considerable development in recent years. PBVS and IBVS offer tradeoffs in performance, and neither can solve all tasks that may confront a robot. In response to these issues, several methods have been devised that partition the control scheme, allowing some motions to be performed in the manner of a PBVS system, while the remaining motions are performed using an IBVS approach.

To date, there has been little research that explores the relative strengths and weaknesses of these methods. In this paper we present such an evaluation. We have chosen three recent visual servo approaches for evaluation in addition to the traditional PBVS and IBVS approaches. We posit a set of performance metrics that measure quantitatively the performance of a visual servo controller for a specific task. We then evaluate each of the candidate visual servo methods for four canonical tasks with simulations and with experiments in a robotic work cell.

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