| ID | 30127 |
| フルテキストURL | |
| 著者 |
Hashimoto, Koichi
Okayama University
Aoki, Atsuhito
Okayama University
|
| 抄録 | 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 |
| キーワード | Jacobian matrices
manipulators
redundancy
robot vision
servomechanisms
|
| 備考 | 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. |
| 発行日 | 1996-12
|
| 出版物タイトル |
Decision and Control
|
| 巻 | 3巻
|
| 開始ページ | 2482
|
| 終了ページ | 2483
|
| 資料タイプ |
学術雑誌論文
|
| 言語 |
英語
|
| 査読 |
有り
|
| DOI | |
| Submission Path | industrial_engineering/96
|
