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A Study on Visual Feedback Control of Industrial Articulated Robot  

Shim, Byoung-Kyun (Dept. of Advanced Engineering, Graduate School, Kyungnam University)
Han, Sung-Hyun (School of Mechanical Engineering, Kyungnam University)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.12, no.1, 2013 , pp. 35-42 More about this Journal
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.
Keywords
Visual Feedback Control; Visual Servoing; Articulated Robot Arm; Real-Time Control;
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