A study on robust feedback control for dual-arm robot system

Author

Lee, Woo-Song ; Oh, Se-Bong ; Cha, Dong-Jin ; Lee, Jong-Boong ; Han, Sung-Hyun ; Park, Dong-Joo

Author_Institution

Kyungnam Univ., Masan

fYear

2007

fDate

17-20 Oct. 2007

Firstpage

2299

Lastpage

2303

Abstract

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. 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 made by Samsung Electronics Co. Ltd.

Keywords

Jacobian matrices; feedback; position control; redundant manipulators; robot vision; robust control; stereo image processing; visual servoing; dual-arm robot manipulator; image Jacobian; position control; redundant feature; robust feedback control; stereo vision; visual servo system; Cameras; Control systems; Feedback control; Mechanical systems; Optical feedback; Robot vision systems; Robotics and automation; Robust control; Servomechanisms; Stereo vision; Feature-Based Visual Tracking; Real-Time Control; Redundant Feature; Visual feedback Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-6-2

Electronic_ISBN

978-89-950038-6-2

Type

conf

DOI

10.1109/ICCAS.2007.4406710

Filename

4406710