Performance and sensitivity in visual servoing

Author

Hashimoto, Koichi ; Noritsugu, Toshiro

Author_Institution

Dept. of Mech. Eng., Okayama Univ., Japan

Volume

3

fYear

1998

fDate

16-20 May 1998

Firstpage

2321

Abstract

Describes the relationship between the control performance and the number/configuration of the image features in feature-based visual servoing. The performance is evaluated by two ways: accuracy and speed. A quantitive definition of the sensitivity is given and the relationship among the sensitivity, the speed of convergence and the accuracy are discussed by using the image Jacobian. It is proved that these performance indices are increased effectively by using a point with different height. Experiments on Puma 560 are given to show the validity of these performance measures

Keywords

Jacobian matrices; closed loop systems; convergence; discrete time systems; optimal control; robot vision; sensitivity; Puma 560; accuracy; feature-based visual servoing; image Jacobian; performance indices; performance measures; sensitivity; speed of convergence; Convergence; Image recognition; Jacobian matrices; Least squares approximation; Mechanical engineering; Robot sensing systems; Robustness; Servomechanisms; Stability; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680669

Filename

680669