Title :
A study on visual feedback control of robot arm
Author :
Nguyen, Van-Quyet ; Kim, Jun-Hong ; Yoon, Suk-Bum ; Yoo, Young-Gyun ; Han, Sung-Hyun
Author_Institution :
Div. of Mech. Eng., Kyungnam Univ., Masan
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 verified by the real time experiments on a dual-arm robot manipulator made by Samsung Electronics Co. Ltd.
Keywords :
control engineering computing; redundant manipulators; robot vision; visual servoing; dual-arm robot manipulator; image Jacobian; visual feedback control; visual servo systems; Automatic control; Cameras; Control systems; Feedback control; Jacobian matrices; Optical feedback; Robot vision systems; Robotics and automation; Servomechanisms; Stereo vision; Feature-Based Visual Tracking; Real-Time Control; Redundant Feature; Visual feedback Control;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694204
