| ID | 30069 |
| フルテキストURL | |
| 著者 |
Hashimoto, Koichi
Department of Mechanical Engineering Okayama University
Aoki, Atsuhito
Department of Mechanical Engineering Okayama University
Noritsugu, Toshiro
Department of Mechanical Engineering Okayama University
Kaken ID
publons
researchmap
|
| 抄録 | 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.
|
| キーワード | controllability
industrial manipulators
linear quadratic control
optical tracking
path planning
real-time systems
robot vision
sensitivity analysis
servomechanisms
|
| 備考 | 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. |
| 発行日 | 1997-06
|
| 出版物タイトル |
IEEE/ASME International Conference on Advanced Intelligent Mechatronics '97 Final Program & Abstracts
|
| 出版者 | Institute of Electrical and Electronics Engineers
|
| 開始ページ | 51
|
| 終了ページ | 51
|
| NCID | BA36690425
|
| 資料タイプ |
会議発表論文
|
| 言語 |
英語
|
| イベント | IEEE/ASME International Conference on Advanced Intelligent Mechatronics '97
|
| イベント地 | Tokyo, Japan
|
| イベント開催日 | 1997-06
|
| 論文のバージョン | publisher
|
| 査読 |
有り
|
| DOI | |
| Submission Path | industrial_engineering/92
|
