Title :
A study on feature-based visual servoing system of intelligent robot system 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
Abstract :
This paper shows 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. The usefulness of the redundant features is verified by the real time experiments. To investigate the accuracy of the redundant visual servo system, real time experiments on the dual-arm robot with eight joints are carried out. Translation and rotation step response with three, four and five features are examined
Keywords :
industrial robots; redundancy; robot vision; sensitivity analysis; sensor fusion; step response; control performance; dual-arm robot; feature-based visual servo system; feature-based visual servoing system; image Jacobian; intelligent robot system; redundant feature utilisation; redundant features utilisation; redundant visual servo system; rotation step response; sensitivity analysis; singular value; translation step response; world coordinate system; Adaptive control; Intelligent robots; Jacobian matrices; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; Robotic assembly; Servomechanisms; Visual servoing;
Conference_Titel :
Industrial Electronics, 2000. ISIE 2000. Proceedings of the 2000 IEEE International Symposium on
Conference_Location :
Cholula, Puebla
Print_ISBN :
0-7803-6606-9
DOI :
10.1109/ISIE.2000.930357
