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

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.