The Transactions of the Korean Institute of Electrical Engineers A (대한전기학회논문지:전력기술부문A)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Novel Visual Servoing Method involving Disturbance Observer

외란 관측기를 이용한 새로운 시각구동 방법

  • 이준수 (한양대 전자공학과) ;
  • 서일홍 (한양대 전자공학과, 서울대 ERC-ACI)
  • Published : 1999.03.01
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Abstract

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 method based on the disturbance obsever, which compensates the upper off-diagonal component of image feature jacobian to be the null. The performance indices such as sensitivity for a measure of richness, sensitivity of the control to noise, and comtrollability are shown to be improved when the image feature Jacobian is given as a block diagonal matrix. Computer simulations are carried out for a UUMA560 robot and show some results to verify the effectiveness of the proposed method.

Keywords

References

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