A study on visual feedback control of SCARA robot arm

Autor:	Young-Mok Koo, Hyun-Suk Sim, Soon-Hyun Jeong, Dae-Kun Ahn, Sung-Hyun Han, Bo-Nam Cha
Rok vydání:	2015
Předmět:	Engineering Robot kinematics Robot calibration business.industry SCARA Arm solution Visual servoing law.invention Robot control Computer Science::Robotics Industrial robot Control theory law Real-time Control System Computer vision Artificial intelligence business
Zdroj:	2015 15th International Conference on Control, Automation and Systems (ICCAS).
DOI:	10.1109/iccas.2015.7364830
Popis:	This paper presents how it is effective to use many features for improving the accuracy of the visual servoing control for SCARA robot. 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. Effectiveness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator system.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::33587488f98d58af0630eca281bb1f91 https://doi.org/10.1109/iccas.2015.7364830 Zobrazit plný text záznamu