A study on feature-based visual servoing control of eight axes-dual arm robot by utilizing redundant feature

Author

Han, S.H. ; Choi, J.W. ; Son, K. ; Lee, M.C. ; Lee, J.M. ; Lee, M.H.

Author_Institution

Div. of Mech. & Autom. Eng., Kyungnam Univ., Masan, South Korea

Volume

3

fYear

2001

fDate

2001

Firstpage

2622

Abstract

This paper presents how the control performance of the feature-based visual servo 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. Usefulness of the redundant features is verified by the real time experiments. To investigate the accuracy of the redundant visual servo control, real time experiments on the dual-arm robot with eight joints are carried out. The rotation and translation step responses with three, four and five features are examined.

Keywords

Jacobian matrices; manipulator dynamics; manipulator kinematics; robot vision; servomechanisms; step response; Jacobian matrix; dual arm robot; dynamics; image processing; kinematics; real time systems; redundant feature; step responses; visual servoing; Adaptive control; Automatic control; Jacobian matrices; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; Robotic assembly; Robotics and automation; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933018

Filename

933018