Abstract
This paper presents how the control performance of the visual servo system is improved by utilizing the redundant features. We use the minimum singular value of the image Jacobian as a measure of the control accuracy (sensitivity) and we show that the sensitivity is strictly decreased by increasing the number of redundant features. Effectiveness of the control scheme with redundant features are verified by real time experiments on a PUMA 560 manipulator.
| Original language | English |
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| Title of host publication | Proceedings of the IEEE Conference on Decision and Control |
| Editors | Anon |
| Pages | 2355-3592 |
| Number of pages | 1238 |
| Publication status | Published - 1996 Dec 1 |
| Externally published | Yes |
| Event | Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) - Kobe, Jpn Duration: 1996 Dec 11 → 1996 Dec 13 |
Publication series
| Name | Proceedings of the IEEE Conference on Decision and Control |
|---|---|
| Volume | 3 |
| ISSN (Print) | 0191-2216 |
Other
| Other | Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) |
|---|---|
| City | Kobe, Jpn |
| Period | 96/12/11 → 96/12/13 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Control and Optimization