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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: 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: 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: 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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Emerging Technologies and Factory Automation, 1992. IEEE International Workshop on; 09/1992
