| ID | 30127 |
| FullText URL | |
| Author |
Hashimoto, Koichi
Aoki, Atsuhito
|
| Abstract | This paper presents how the control performance of the visual servo system is improved by utilizing the redundant features. We use the minimum singular value of the image Jacobian as a measure of the control accuracy (sensitivity) and we show that the sensitivity is strictly decreased by increasing the number of redundant features. Effectiveness of the control scheme with redundant features are verified by real time experiments on a PUMA 560 manipulator |
| Keywords | Jacobian matrices
manipulators
redundancy
robot vision
servomechanisms
|
| Note | Digital Object Identifier: 10.1109/CDC.1996.573463
Published with permission from the copyright holder. This is the institute's copy, as published in Decision and Control, 1996., Proceedings of the 35th IEEE, 11-13 Dec. 1996, Vol. 3, Pages 2482-2483. Publisher URL:http://dx.doi.org/10.1109/CDC.1996.573463 Copyright © 1996 IEEE. All rights reserved. |
| Published Date | 1996-12
|
| Publication Title |
Decision and Control
|
| Volume | volume3
|
| Start Page | 2482
|
| End Page | 2483
|
| Content Type |
Journal Article
|
| language |
English
|
| Refereed |
True
|
| DOI | |
| Submission Path | industrial_engineering/96
|
