Visual Servoing with Redundant Features.

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  • 冗長な特徴量に基づく視覚サーボ
  • ジョウチョウ ナ トクチョウリョウ ニ モトズク シカク サーボ

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Abstract

This paper presents how the control performance of the feature-based visual servo system is improved by utilizing the redundant features. It also proves the effectiveness of the redundant features to increase the accuracy of the visual servo system by using the smallest singular value of a matrix called image Jacobian. Real time experiments on a PUMA 560 manipulator show usefulness of the redundant features to improve the performance.

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