Title :
Visual servoing with redundant features
Author :
Hashimoto, Koichi ; Aoki, Atsuhito ; Noritsugu, Toshiro
Author_Institution :
Dept. of Syst. Eng., Okayama Univ., Japan
Abstract :
This paper presents how the control performance of the visual servo system is improved by utilizing the redundant features. We use the minimum singular value of the image Jacobian as a measure of the control accuracy (sensitivity) and we show that the sensitivity is strictly decreased by increasing the number of redundant features. Effectiveness of the control scheme with redundant features are verified by real time experiments on a PUMA 560 manipulator
Keywords :
Jacobian matrices; manipulators; redundancy; robot vision; servomechanisms; PUMA 560 manipulator; control accuracy; image Jacobian; minimum singular value; redundant features; sensitivity; visual servo system; Calibration; Cameras; Control systems; Error correction; Jacobian matrices; Robot kinematics; Robot vision systems; Servomechanisms; Systems engineering and theory; Visual servoing;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.573463
