A study on visual feedback control of SCARA robot arm

This paper presents how it is effective to use many features for improving the accuracy of the visual servoing control for SCARA robot. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the nu...

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Bibliographic Details
Published in2015 15th International Conference on Control, Automation and Systems (ICCAS) pp. 1268 - 1270
Main Authors Hyun-Suk Sim, Young-mok Koo, Soon-Hyun Jeong, Dae-Kun Ahn, Bo-Nam Cha, Sung-Hyun Han
Format Conference Proceeding
LanguageEnglish
Published Institute of Control, Robotics and Systems - ICROS 01.10.2015
Subjects
Chlorine
Feature-Based Visual Tracking
Real-Time Control
Redundant Feature
Robot kinematics
Visual Feedback Control
Visualization
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Summary:This paper presents how it is effective to use many features for improving the accuracy of the visual servoing control for SCARA robot. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator system.
ISSN:2093-7121
DOI:10.1109/ICCAS.2015.7364830