A study on visual feedback control of robot arm

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...

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Hauptverfasser:	Nguyen, V.-Q., Jun-Hong Kim, Suk-Bum Yoon, Young-Gyun Yoo, Sung-Hyun Han
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Automatic control Cameras Control systems Feature-Based Visual Tracking Feedback control Jacobian matrices Optical feedback Real-Time Control Redundant Feature Robot vision systems Robotics and automation Servomechanisms Stereo vision Visual feedback Control
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Beschreibung
Zusammenfassung:	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.
DOI:	10.1109/ICCAS.2008.4694204