Title :
A study on feature-based visual servoing control robot system by utilizing redundant feature
Author :
Lee, J. ; Han, S.H. ; Lee, M.H. ; Hashimoto, Hideki
Author_Institution :
Div. of Mech. & Autom. Eng., Kyungnam Univ., Masan, South Korea
Abstract :
This paper presents how the control performance of a feature-based visual servoing system is improved by utilizing redundant features. The 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. The usefulness of the redundant features is verified by real time control experiments. To illustrate the accuracy of the redundant visual servo system, real time experiments on a dual-arm robot with eight joints are carried out. Translation and rotation step response with three, four and five features are examined in this experiment
Keywords :
feature extraction; redundancy; robot vision; servomechanisms; step response; Translation and rotation step response; control performance; dual-arm robot; feature-based visual servoing control robot system; image Jacobian; real time control experiments; redundant feature; rotation step response; world coordinate system; Control systems; Jacobian matrices; Real time systems; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; Robotic assembly; Robotics and automation; Visual servoing;
Conference_Titel :
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on
Conference_Location :
Pusan
Print_ISBN :
0-7803-7090-2
DOI :
10.1109/ISIE.2001.931943
