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

Volume

3

fYear

2001

fDate

2001

Firstpage

1585

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on

Conference_Location

Pusan

Print_ISBN

0-7803-7090-2

Type

conf

DOI

10.1109/ISIE.2001.931943

Filename

931943