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ID 30069
フルテキストURL
著者
Hashimoto, Koichi Department of Mechanical Engineering Okayama University
Aoki, Atsuhito Department of Mechanical Engineering Okayama University
Noritsugu, Toshiro Department of Mechanical Engineering Okayama University
抄録
This paper presents how the control performance of the feature-based visual servo system is improved by utilizing redundant features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy in the world coordinate system. An LQ control scheme is used to resolve the controllability problem. Usefulness of the redundant features is verified by the real time experiments on a PUMA 560 manipulator.
キーワード
controllability
industrial manipulators
linear quadratic control
optical tracking
path planning
real-time systems
robot vision
sensitivity analysis
servomechanisms
備考
Digital Object Identifier: 10.1109/AIM.1997.652910
Published with permission from the copyright holder. This is the institute's copy, as published in Advanced Intelligent Mechatronics '97., IEEE/ASME International Conference on, 16-20 June 1997, Pages 51.
Publisher URL:http://dx.doi.org/10.1109/AIM.1997.652910
Copyright © 1997 IEEE. All rights reserved.
発行日
1997-06
出版物タイトル
IEEE/ASME International Conference on Advanced Intelligent Mechatronics '97 Final Program & Abstracts
出版者
Institute of Electrical and Electronics Engineers
開始ページ
51
終了ページ
51
NCID
BA36690425
資料タイプ
会議発表論文
言語
English
OAI-PMH Set
岡山大学
イベント
IEEE/ASME International Conference on Advanced Intelligent Mechatronics '97
イベント地
Tokyo, Japan
イベント開催日
1997-06
論文のバージョン
publisher
査読
有り
DOI
Submission Path
industrial_engineering/92