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ID 30069
FullText URL
Author
Hashimoto, Koichi
Aoki, Atsuhito
Abstract
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.
Keywords
controllability
industrial manipulators
linear quadratic control
optical tracking
path planning
real-time systems
robot vision
sensitivity analysis
servomechanisms
Note
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.
Publisher URL:http://dx.doi.org/10.1109/AIM.1997.652910
Copyright © 1997 IEEE. All rights reserved.
Published Date
1997-06
Publication Title
IEEE/ASME International Conference on Advanced Intelligent Mechatronics '97 Final Program & Abstracts
Publisher
Institute of Electrical and Electronics Engineers
Start Page
51
End Page
51
NCID
BA36690425
Content Type
Conference Paper
language
英語
Event Title
IEEE/ASME International Conference on Advanced Intelligent Mechatronics '97
Event Location
Tokyo, Japan
Event Dates
1997-06
File Version
publisher
Refereed
True
DOI
Submission Path
industrial_engineering/92