A study on feature-based visual servoing system of intelligent robot system by utilizing redundant feature

被引：0
|
作者：
Han, SH [1 ]
Choi, JW [1 ]
Son, K [1 ]
Lee, MC [1 ]
Lee, JM [1 ]
Lee, MH [1 ]
机构：
[1] Kyungnam Univ, Div Mech & Automat Engn, Masan 631701, South Korea
来源：
PROCEEDINGS OF THE 2000 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, VOL 1 AND 2 | 2000年
关键词：
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper presents how the control performance of the feature-based visual servo system is improved by utilizing redundant features. 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 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.
引用
收藏
页码：552 / 558
页数：3
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