Performance and sensitivity in visual servoing

Koichi Hashimoto, Toshiro Noritsugu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Citations (Scopus)

Abstract

This paper Describes the relationship between the control performance and the number/configuration of the image features in feature-based visual servoing. The performance is evaluated by two ways: Accuracy and speed. A quantitive definition of the sensitivity is given and the relationship among the sensitivity, the speed of convergence and the accuracy are discussed by using the image Jacobian. It is proved that these performance indices are increased effectively by using a point with different height. Experiments on Puma 560 are given to show the validity of these performance measures.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2321-2326
Number of pages6
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1998 Jan 1
Externally publishedYes
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Other

Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period98/5/1698/5/20

Keywords

  • Convergence
  • Image recognition
  • Jacobian matrices
  • Least squares approximation
  • Mechanical engineering
  • Robot sensing systems
  • Robustness
  • Servomechanisms
  • Stability
  • Visual servoing

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Performance and sensitivity in visual servoing'. Together they form a unique fingerprint.

  • Cite this

    Hashimoto, K., & Noritsugu, T. (1998). Performance and sensitivity in visual servoing. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 2321-2326). [680669] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 3). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.680669