A study on robust feedback control for dual-arm robot system

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions, which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made by Samsung Electronics Co. Ltd.