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

摘要

This paper presents how the control performance of a feature-based visual servoing system is improved by utilizing redundant features. The 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. The usefulness of the redundant features is verified by real time control experiments. To illustrate the accuracy of the redundant visual servo system, real time experiments on a dual-arm robot with eight joints are carried out. Translation and rotation step response with three, four and five features are examined in this experiment.