A novel visual servoing approach involving disturbance observer

Authors
Lee, JSSuh, IHYou, BJOh, SR
Issue Date
1999-05
Publisher
IEEE
Citation
International Conference on Robotics and Automation (ICRA '99), pp.269 - 274
Abstract
To improve the visual servoing performance, several strategies have been proposed by using redundant feature points, by using a point with different height, and by a weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and objects. And redundant feature points require much computational efforts. This paper proposes a visual servoing method based on disturbance observer which compensates the effect of the off-diagonal component of image feature Jacobian to be null. The performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability are improved when an image feature Jacobian is given as a block diagonal matrix. The proposed approach is applied to PUMA560 and Samsung FARAMAN 6-axis industrial robot manipulator successfully.
URI
https://pubs.kist.re.kr/handle/201004/118478
Appears in Collections:
KIST Conference Paper > Others
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML

qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE