Lee, Joon-Soo Suh, Il Hong You, Bum-Jae Oh, Sang-Rok 2024-01-12T10:40:38Z 2024-01-12T10:40:38Z 2022-03-07 1999-10 0000-0000 https://pubs.kist.re.kr/handle/201004/84887 A visual servoing method has been proposed based on disturbance observer to eliminate the effect of the off-diagonal component of image feature Jacobian, since performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability could be improved when an image feature Jacobian was given as a block diagonal matrix. In this paper, experimental results of disturbance observer-based visual servoing are discussed, where Samsung FARAMAN-AS1 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilize the disturbance observer loop by saturating the differential changes of the image features. English IEEE Experiments on a visual servoing approach using disturbance observer Conference 1 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', pp.1334 - 1339 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' 1334 1339 US Kyongju, South Korea 1999-10-17 IEEE International Conference on Intelligent Robots and Systems 2-s2.0-0033313189