| ID | 30032 |
| FullText URL | |
| Author |
Hashimoto, Koichi
|
| 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
|
| Note | Digital Object Identifier: 10.1109/ROBOT.1998.680669
Published with permission from the copyright holder. This is the institute's copy, as published in Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on, 16-20 May 1998, Vol. 3, Pages 2321-2326. Publisher URL:http://dx.doi.org/10.1109/ROBOT.1998.680669 Copyright © 1998 IEEE. All rights reserved. |
| Published Date | 1998-5
|
| Publication Title |
Robotics and Automation
|
| Volume | volume3
|
| Start Page | 2321
|
| End Page | 2326
|
| Content Type |
Journal Article
|
| language |
English
|
| Refereed |
True
|
| DOI | |
| Submission Path | industrial_engineering/91
|
