Potential problems of stability and convergence in image-based and position-based visual servoing

摘要

. Visual servoing, using image-based control or positionbased control, generally gives satisfactory results. However, in some cases, convergence and stability problems may occur. The aim of this paper is to emphasize these problems by considering an eye-in-hand system and a positioning task with respect to a static target which constrains the six camera degrees of freedom. To appear in: The Confluence of Vision and Control, Lecture Notes in Control and Informations Systems, Springer-Verlag, 1998. 1 Introduction The two classical approaches of visual servoing (that is image-based control and position-based control) are different in the nature of the inputs used in their respective control schemes [28,10,14]. Even if the resulting robot behaviors thus also differ, both approaches generally give satisfactory results: the convergence to the desired position is reached, and, thanks to the closed-loop used in the control scheme, the system is stable, and robust with respect to camera calib...