Comparison of Robustness and Performance of Partitioned Image Based Visual Servo Systems

Abstract

Visual Servoing (VS) has been a viable method of robot manipulator control for almost two decades. Image-Based Visual Servoing (IBVS), in particular, has seen considerable development in recent years. Numerous techniques have been devised to partitioned the control scheme along degrees of freedom, allowing troublesome motions to be handled by methods other than the use of a Jacobian. However, very little independent research has been done to explore the strengths or weaknesses of these methods. In this paper we apply strict tests to several Partitioned ImageBased Visual Servo (PIBVS) systems to test for robustness under the effects of common imaging and robot control errors, as well as conduct tests of performance during difficult control tasks.