| Title |
A Novel Visual Servoing Method involving Disturbance Observer |
| Authors |
이준수(Lee, Joon-Soo) ; 서일홍(Suh, Il-Hong) |
| Keywords |
시각구동 ; 외란관측기 ; 영상사점 eye-hand |
| Abstract |
To improve the visual servoing performance, several strategies were proposed in the past such as redundant feature points, using a point with different height and weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and object. And redundant feature points require much computation efforts. This paper proposes the visual servoing method based on the disturbance obsever, which compensates the upper off-diagonal component of image feature jacobian to be the null. The performance indices such as sensitivity for a measure of richness, sensitivity of the control to noise, and comtrollability are shown to be improved when the image feature Jacobian is given as a block diagonal matrix. Computer simulations are carried out for a UUMA560 robot and show some results to verify the effectiveness of the proposed method. |