Model-based vs. model-free visual servoing: A performance evaluation in microsystems

被引：0

作者：

Hocaoglu, Muhammet A. ^{[1
]}

Bilen, Hakan ^{[1
]}

Ozgur, Erol ^{[1
]}

Unel, Mustafa ^{[1
]}

机构：

[1] Sabanci Univ, Fac Engn & Nat Sci, TR-34956 Istanbul, Turkey

来源：

PROCEEDINGS OF THE 13TH IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS/PROCEEDINGS OF THE IASTED INTERNATIONAL CONFERENCE ON TELEMATICS | 2007年

关键词：

visual servoing; visual tracking; micropositioning;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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 model-based 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.

引用

下载

页码：316 / 321

页数：6

共 50 条

[1] Model-based and Model-free Reinforcement Learning for Visual Servoing
Farahmand, Amir Massoud
Shademan, Azad
Jagersand, Martin
Szepesvari, Csaba
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 2009, : 4135 - 4142
[2] An unified approach to model-based and model-free visual servoing
Malis, E
COMPUTER VISION - ECCV 2002, PT IV, 2002, 2353 : 433 - 447
[3] Model-free vs. model-based linkage analysis: A false dichotomy?
Hodge, SE
AMERICAN JOURNAL OF MEDICAL GENETICS, 2001, 105 (01): : 62 - 64
[4] Control of the Cart-Pole System: Model-based vs. Model-free Learning
Fu, Minyue
IFAC PAPERSONLINE, 2023, 56 (02): : 11847 - 11852
[5] Model-free augmented reality by virtual visual servoing
Pressigout, M
Marchand, É
PROCEEDINGS OF THE 17TH INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION, VOL 2, 2004, : 887 - 890
[6] Automatic Shape Control of Deformable Wires Based on Model-Free Visual Servoing
Lagneau, Romain
Krupa, Alexandre
Marchal, Maud
IEEE ROBOTICS AND AUTOMATION LETTERS, 2020, 5 (04): : 5252 - 5259
[7] Model-Free and Model-Based Policy Evaluation when Causality is Uncertain
Bruns-Smith, David
INTERNATIONAL CONFERENCE ON MACHINE LEARNING, VOL 139, 2021, 139
[8] Model-Free Versus Model-Based Methods
不详
IEEE CONTROL SYSTEMS MAGAZINE, 2023, 43 (05): : 40 - 40
[9] Prosocial learning: Model-based or model-free?
Navidi, Parisa
Saeedpour, Sepehr
Ershadmanesh, Sara
Hossein, Mostafa Miandari
Bahrami, Bahador
PLOS ONE, 2023, 18 (06):
[10] Model-free, Model-based, and General Intelligence
Geffner, Hector
PROCEEDINGS OF THE TWENTY-SEVENTH INTERNATIONAL JOINT CONFERENCE ON ARTIFICIAL INTELLIGENCE, 2018, : 10 - 17

← 1 2 3 4 5 →