제어로봇시스템학회:학술대회논문집
- 2004.08a
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- Pages.1650-1654
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- 2004
Implementation of Real Time Visual Servoing Control for Robot Manipulator
- Han, Sung-Hyun (Division of Mechanical and Automation Eng., Kyungnam Univ.) ;
- Jung, Ding-Yean (Dept. of Mechanical Design, Kyungnam Univ.) ;
- Kim, Hong-Rae (Dept. of Mechanical Design, Kyungnam Univ.) ;
- Hashmoto, Hideki (Institute of Industrial science Univ. of Tokyo)
- Published : 2004.08.25
Abstract
This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd.
Keywords