A study on visual feedback control of SCARA robot arm

This paper presents how it is effective to use many features for improving the accuracy of the visual servoing control for SCARA robot. 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 system.