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

The Korean Institute of Electrical Engineers (대한전기학회)
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Experiments on a Visual Servoing Approach using Disturbance Observer

외란 관측기를 이용한 시각구동 방법의 구현

  • 이준수 (한국과학기술연구원 지능제어연구센타, 한양대 전자공학과) ;
  • 서일홍 (한양대 전자공학과)
  • Published : 1999.10.01
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Abstract

A visual servoing method has been proposed based on disturbance observer to eliminate the effect of the off-diagonal component of image feature Jacobian, since performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability could be improved when an image feature Jacobian was given as a block diagonal matrix. In this paper, experimental results of disturbance observer-based visual servoing are discussed where Samsung FARAMAN-AS1 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilize the disturbance observer loop by saturating the differential changes of the image features.

Keywords

References

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