Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Novel Visual Servoing Method Using QR Decomposition and Disturbance Observer

QR분해와 외란관측기를 이용한 시각구동 방법

  • 이준수 (한국과학기술연구원 지능제어연구센타) ;
  • 서일홍 (한양대학교 전자공학과) ;
  • 유범재 (한국과학기술연구원 지능제어연구센타) ;
  • 오상록 (한국과학기술연구원 지능제어연구센타)
  • Published : 2000.06.01
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Abstract

This paper proposes a visual servoing method based on QR decomposition and disturbance observer. The QR decomposition factors the image feature Jacobian into a unitary matrix and an upper triangular matrix. And it is shown that several performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability can be improved for any general image feature Jacobian by QR decomposition and disturbance observer. To show the validity of the proposed approach, visual servoing with stereo vision is carried out for a Samsung FARAMAN 6-axis industrial robot manipulator.

Keywords

References

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