Fundamental Study on Visual Servo in Maglev Linear Synchronous Drive -Comparison of Position-Based and Image-Based Methodologies-

In the context of motion control for linear motors, the integration of a magnetic levitation (Maglev) system introduces limitations and instabilities to the sensor system. The objective of this study is to develop a sensing system for a maglev linear motor utilizing visual sensors and to implement visual servo control. Utilizing the highly invariant characteristic of the maglev system, a high-speed visual sensing system is constructed, employing a single monocular camera. Subsequent to the construction of these systems, position-based visual servoing (PBVS) and image-based visual servoing (IBVS) systems were constructed and verified by experiments.