A Study on Visual Feedback Control of SCARA Robot Arm

被引：0

作者：

Sim, Hyun-Suk ^{[1
]}

Koo, Young-mok ^{[2
]}

Jeong, Soon-Hyun ^{[3
]}

Ahn, Dae-Kun ^{[3
]}

Cha, So-Nam ^{[4
]}

Han, Sung-Hyun ^{[5
]}

机构：

[1] DongSan Tech Co Ltd, Haman 637821, South Korea

[2] Kyungnam Univ, Dept Adv Engn, Chang Won 631701, South Korea

[3] Gyeongnam Technopk Co Ltd, Chang Won 641465, South Korea

[4] Doosan Infracore Co Ltd, Chang Won, South Korea

[5] Kyungnam Univ, Sch Mech Engn, Chang Won 631701, South Korea

来源：

2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2015年

关键词：

Visual Feedback Control; Redundant Feature; Feature-Based Visual Tracking; Real-Time Control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1268 / 1270

页数：3

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