Title :
Visual tracking of redundant features
Author :
Hashimoto, K. ; Aoki, A. ; Noritsugu, T.
Author_Institution :
Dept. of Mech. Eng., Okayama Univ., Japan
Abstract :
Summary form only given as follows. This paper presents how the control performance of the feature-based visual servo system is improved by utilizing redundant features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy in the world coordinate system. An LQ control scheme is used to resolve the controllability problem. Usefulness of the redundant features is verified by the real time experiments on a PUMA 560 manipulator.
Keywords :
controllability; industrial manipulators; linear quadratic control; optical tracking; path planning; real-time systems; robot vision; sensitivity analysis; servomechanisms; LQ control; PUMA 560 manipulator; controllability; feature-based visual servo system; image Jacobian; redundant features; singular value; visual tracking; Automatic control; Control systems; Controllability; Jacobian matrices; Mechanical engineering; Redundancy; Robot kinematics; Robotics and automation; Servomechanisms; Sufficient conditions;
Conference_Titel :
Advanced Intelligent Mechatronics '97. Final Program and Abstracts., IEEE/ASME International Conference on
Conference_Location :
Tokyo, Japan
Print_ISBN :
0-7803-4080-9
DOI :
10.1109/AIM.1997.652910
