On the Observability of Robot Motion Under Active Camera Control
نویسندگان
چکیده
We de$ne a measure of “observability” of robot motion that can be used in evaluating a hand/eye set-up with respect to the ease of achieving vision-based control. This eztends the analysis of “manipulability” of a robotic mechanism in [9] to incorporate the effect of visual features. We discuss how the observability measure can be applied for active camera placement and for robot tmjectory planning to improve the visual servo control. We use the examples of a planar &DOF arm and a PUMA-type 3-DOF arm to show the variation of the observability and manipulability measure with respect io the relative position of the active camera.
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