A Simple Visual-Servoing Task on a Low-Accuracy, Low-Cost Arm: An Experimental Comparison Between Belief Space Planning and Proportional-Integral-Derivative Controllers

Description Among the many alternatives for the control of such structures, BSP methods are promising and comparatively simple to implement. As mentioned previously, we aim to contribute to the learning process of our community by providing a basic example of reproducible research in a traditional area such as robotic arm control and on a very affordable hardware and software platform. The affordability of the platform provides the additional benefit of leveling the ground and facilitating the inclusion within the research community of groups with limited resources and/or from disadvantaged areas of the world [3]. We follow a "first principles" approach. This means that we focus on the performed task rather than on the particular technical approaches used to accomplish it. Moreover, we deliberately compared two very different methodologies and implemented them with minimal technical sophistication.