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Experiments on a visual servoing approach using disturbance observer

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4 Author(s)
Joon-Soo Lee ; Intelligent Syst. Control Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea ; Il Hong Suh ; Bum-Jae You ; Sang-Rok Oh

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

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

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