지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
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초록· 키워드
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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.
목차
ABSTRACT
1. Introduction
2. Visual Feedback Control
3. Experiment and Results
4. Conclusion
References
참고문헌 (7)
참고문헌 신청
1. [학술지(정기간행물)] - Weiss, L. E. / 1987 / Dynamic sensor-based control of robots with visual feedback / IEEE Journal of Robotics and Automation 404 (417) : 404 ~ 417
2. [학술대회논문] - Hashimoto, K. / 1991 / Manipulator control with image-based visual servo / In Proceedings of IEEE International Conference on Robotics and Automation : 2267 ~ 2272
3. [학술대회논문] - Hashimoto, K. / 1992 / Dynamic visual feedback control for a hand-eye manipulator / In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems : 1863 ~ 1868
4. [학술지(정기간행물)] - G. Hager / 1996 / A tutorial on visual servo control / IEEE Trans. Robotics & Automation 12 (5,) : 651 ~ 670
5. [학술대회논문] - Allen, P. K. / 1991 / Real Time Visual Servoing / In Proceeding of the IEEE International Conference on Robotics and Automation : 851 ~ 856
2. [학술대회논문] - Hashimoto, K. / 1991 / Manipulator control with image-based visual servo / In Proceedings of IEEE International Conference on Robotics and Automation : 2267 ~ 2272
3. [학술대회논문] - Hashimoto, K. / 1992 / Dynamic visual feedback control for a hand-eye manipulator / In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems : 1863 ~ 1868
4. [학술지(정기간행물)] - G. Hager / 1996 / A tutorial on visual servo control / IEEE Trans. Robotics & Automation 12 (5,) : 651 ~ 670
5. [학술대회논문] - Allen, P. K. / 1991 / Real Time Visual Servoing / In Proceeding of the IEEE International Conference on Robotics and Automation : 851 ~ 856
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UCI(KEPA) : I410-ECN-0101-2014-581-000192466