Title :
A study on robust feedback control for dual-arm robot system
Author :
Lee, Woo-Song ; Oh, Se-Bong ; Cha, Dong-Jin ; Lee, Jong-Boong ; Han, Sung-Hyun ; Park, Dong-Joo
Author_Institution :
Kyungnam Univ., Masan
Abstract :
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.
Keywords :
Jacobian matrices; feedback; position control; redundant manipulators; robot vision; robust control; stereo image processing; visual servoing; dual-arm robot manipulator; image Jacobian; position control; redundant feature; robust feedback control; stereo vision; visual servo system; Cameras; Control systems; Feedback control; Mechanical systems; Optical feedback; Robot vision systems; Robotics and automation; Robust control; Servomechanisms; Stereo vision; Feature-Based Visual Tracking; Real-Time Control; Redundant Feature; Visual feedback Control;
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
DOI :
10.1109/ICCAS.2007.4406710
