Joon-Soo Lee

Korea Institute of Science and Technology, Sŏul, Seoul, South Korea

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Publications (6)0 Total impact

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    ABSTRACT: This paper proposes a visual serving method based on QR decomposition and disturbance observer. The QR decomposition factorizes the image feature Jacobian into a unitary matrix and an upper triangular matrix. It is shown that several performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability can be improved for any general image feature Jacobian by OR decomposition and disturbance observer. To show the validities of the proposed approach, visual servoing with stereo cameras is experimented on Samsung FARAMAN 6-axis industrial manipulator
    Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on; 02/2000
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    ABSTRACT: A visual servoing method has been proposed based on a disturbance observer to eliminate the effect of the off-diagonal component of the image feature Jacobian, since performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability could be improved when an image feature Jacobian was given as a block diagonal matrix. In this paper, experimental results of disturbance observer-based visual servoing are discussed, where a Samsung FARAMAN-ASI 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilize the disturbance observer loop by saturating the differential changes of the image features
    Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on; 02/1999
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    ABSTRACT: To improve the visual servoing performance, several strategies have been proposed by using redundant feature points, by using a point with different height, and by a weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and objects. And redundant feature points require much computational efforts. The paper proposes a visual servoing method based on a disturbance observer which compensates the effect of the off-diagonal component of the image feature Jacobian to be null. The performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability are improved when an image feature Jacobian is given as a block diagonal matrix. The proposed approach is applied to the PUMA560 and Samsung FARAMAN 6-axis industrial robot manipulators successfully
    Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on; 02/1999
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    ABSTRACT: In this paper, a real-time simulation is performed to insure the continuous processing of an electrolytic tinning line (ETL). An ETL is modelled mathematically and a simple type of tension and speed controllers are designed to control the tension and speed of the strip to be within the tolerance error bound. The designed controller is implemented and tested by using a real-time simulation system which consists of 32 bit VME-based single board computers and a real-time operating system (VRTX)
    Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on; 12/1993
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    ABSTRACT: Not Available
    Emerging Technologies and Factory Automation, 1992. IEEE International Workshop on; 09/1992
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    [Show abstract] [Hide abstract]
    ABSTRACT: This paper proposes a visual servoing method based on QR decomposition and disturbance observer. The QR decomposition factors the image feature Jacobian into a unitary matrix and an upper triangular matrix. And it is shown that several performance indices such as measurement sensitivity of visual features, sens itivity of the control to noise and controllability can be improved for any general image feature Jacobian by QR decomposition and di sturbance observer. To show the validity of the proposed approach, visual servoing with stereo vision is carried out for a Sam- sung FARAMAN 6 -axis industrial r obot manipulator.