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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. An LQ control scheme is used to resolve the controllability problem. Usefulness of the redundant features is verified by the real time experiments on a PUMA 560 manipulator.
linear quadratic control
Digital Object Identifier: 10.1109/AIM.1997.652910
Published with permission from the copyright holder. This is the institute's copy, as published in Advanced Intelligent Mechatronics '97., IEEE/ASME International Conference on, 16-20 June 1997, Pages 51.
Copyright © 1997 IEEE. All rights reserved.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics '97 Final Program & Abstracts
Institute of Electrical and Electronics Engineers
IEEE/ASME International Conference on Advanced Intelligent Mechatronics '97