제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Study on Image Based Visual Tracking for SCARA Robot

  • Shin, Hang-Bong (Division of Mechanical and Automation Eng., Kyungnam University) ;
  • Kim, Hong-Rae (Division of Mechanical and Automation Eng., Kyungnam University) ;
  • Jung, Dong-Yean (DAEHO Technology Korea) ;
  • Kim, Byeong-Chang (Dept. of Mechanical Design, Graduate School, Kyungnam University) ;
  • Han, Sung-Hyun (Dept. of Mechanical Design, Graduate School, Kyungnam University)
  • Published : 2005.06.02
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Abstract

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. 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 evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd

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