Title :
Performance and sensitivity in visual servoing
Author :
Hashimoto, Koichi ; Noritsugu, Toshiro
Author_Institution :
Dept. of Mech. Eng., Okayama Univ., Japan
Abstract :
Describes the relationship between the control performance and the number/configuration of the image features in feature-based visual servoing. The performance is evaluated by two ways: accuracy and speed. A quantitive definition of the sensitivity is given and the relationship among the sensitivity, the speed of convergence and the accuracy are discussed by using the image Jacobian. It is proved that these performance indices are increased effectively by using a point with different height. Experiments on Puma 560 are given to show the validity of these performance measures
Keywords :
Jacobian matrices; closed loop systems; convergence; discrete time systems; optimal control; robot vision; sensitivity; Puma 560; accuracy; feature-based visual servoing; image Jacobian; performance indices; performance measures; sensitivity; speed of convergence; Convergence; Image recognition; Jacobian matrices; Least squares approximation; Mechanical engineering; Robot sensing systems; Robustness; Servomechanisms; Stability; Visual servoing;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680669
