@inproceedings{865fe3cee12546e1a01361f3464b5f56,
title = "Performance and sensitivity in visual servoing",
abstract = "This paper Describes the relationship between the control performance and the number/configuration of the image features in feature-based visual servoing. The performance is evaluated by two ways: Accuracy and speed. A quantitive definition of the sensitivity is given and the relationship among the sensitivity, the speed of convergence and the accuracy are discussed by using the image Jacobian. It is proved that these performance indices are increased effectively by using a point with different height. Experiments on Puma 560 are given to show the validity of these performance measures.",
keywords = "Convergence, Image recognition, Jacobian matrices, Least squares approximation, Mechanical engineering, Robot sensing systems, Robustness, Servomechanisms, Stability, Visual servoing",
author = "Koichi Hashimoto and Toshiro Noritsugu",
note = "Publisher Copyright: {\textcopyright} 1998 IEEE.; 15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",
year = "1998",
doi = "10.1109/ROBOT.1998.680669",
language = "English",
isbn = "078034300X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2321--2326",
booktitle = "Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998",
}