A study on feature-based visual servoing control of robot system by utilizing redundant feature

摘要

This paper presents how effective it is to use many features for improving the speed and accuracy of visual servo systems. Some rank conditions which relate the image Jacobian to the control performance are derived. The focus is to describe that the accuracy of the camera position control in the world coordinate system is increased by utilizing redundant features in this paper. It is also proven that the accuracy is improved by increasing the number of features involved. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordingate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-arm Robot manipulator made by Samsung Electronic Co. Ltd.