Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)
- Volume 17 Issue 1
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- Pages.27-34
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- 2014
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- 1226-833X(pISSN)
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- 2765-5415(eISSN)
DOI QR Code
A Study on Visual Feedback Control of Industrial Articulated Robot
-
Shim, Byoung-Kyun
(Dept. of Advanced Engineering, Kyungnam University)
;
-
Lee, Woo-Song
(R&D Center, SungSanamdeco Co. Ltd.)
;
- Park, In-Man (Dept. of Advanced Engineering, Kyungnam University) ;
- hwang, Won-Jun (Dept. of Advanced Engineering, Kyungnam University) ;
- Choi, Young-Sik (Department of Architecture, Yeungnam College of Science & Technology)
- Received : 2014.01.15
- Accepted : 2014.02.21
- Published : 2014.02.28
Abstract
This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. 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. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.