• DocumentCode
    3717958
  • Title

    A study on visual feedback control of SCARA robot arm

  • Author

    Hyun-Suk Sim;Young-mok Koo;Soon-Hyun Jeong;Dae-Kun Ahn;Bo-Nam Cha;Sung-Hyun Han

  • Author_Institution
    DongSan Tech Co., Ltd., Haman, 637-821, Korea
  • fYear
    2015
  • Firstpage
    1268
  • Lastpage
    1270
  • Abstract
    This paper presents how it is effective to use many features for improving the accuracy of the visual servoing control for SCARA robot. 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 system.
  • Keywords
    "Robot kinematics","Visualization","Chlorine"
  • Publisher
    ieee
  • Conference_Titel
    Control, Automation and Systems (ICCAS), 2015 15th International Conference on
  • ISSN
    2093-7121
  • Type

    conf

  • DOI
    10.1109/ICCAS.2015.7364830
  • Filename
    7364830
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3717958