Static-eye against hand-eye visual servoing

In this paper, a comparison between static-eye and hand-eye configurations for the point-to-point visual servoing task realized with position-based and image-based control laws is presented. For these four configurations, the effect of uncertainty on intrinsic and extrinsic calibration parameters is investigated. The results show local stability for all configurations with small calibration errors and a steady state error for the hand-eye position-based one. Simulations have been carried out in order to confirm the theoretical results and evaluate the effects of the uncertainty in terms of stability region.