Title :
A study on visual servoing control of industrial robot
Author :
Lee, Woo-Song ; Eom, Jae-Hong ; Won, Jong-Dae ; Cong, Nguyen Huu ; Han, Sung-Hyun
Author_Institution :
Sungsanamdeco Co., Ltd., Changwon, South Korea
Abstract :
This paper presents how it is effective to use many features for improving the accuracy of the visual servoing control for humanoid 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.
Keywords :
Jacobian matrices; humanoid robots; industrial robots; manipulators; visual servoing; dual-arm robot manipulator system; humanoid robot; image Jacobian; industrial robot; redundant features; visual servoing control; Cameras; Jacobian matrices; Manipulators; Stereo vision; Visual servoing; Visualization; Feature-Based Visual Tracking; Real-Time Control; Redundant Feature; Visual Feedback Control;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8
