대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 하계학술대회 논문집 G
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- Pages.2312-2314
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- 1998
외란관측기를 이용한 새로운 시각구동방법
A Novel Visual Servoing Method involving Disturbance Observer
- Lee, Joon-Soo (Hanyang Univ. Dept. of Electronics) ;
- Suh, Il-Hong (KIST Intelligent System Control Research Center) ;
- You, Bum-Jae (Hanyang Univ. Dept. of Electronics)
- 발행 : 1998.07.20
초록
To improve the visual servoing performance, several strategies were proposed in the past such as redundant feature points, using a point with different height and weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and object. And redundant feature points require much computation efforts. This paper proposes the visual servoing m based on the disturbance observer, which compe the upper off-diagonal component of image fe Jacobian to be null. The performance indices su sensitivity for a measure of richness, sensitiv the control to noise, and controllability are sho improved when the image feature Jacobian is giv a block diagonal matrix. Computer simulation carried out for a PUMA560 robot and show results to verify the effectiveness of the pro method.
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