DocumentCode
1610527
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
fYear
2008
Firstpage
2379
Lastpage
2383
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICCAS.2008.4694204
Filename
4694204
Link To Document