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|Title:||Hybrid Jacobian control for uncalibrated robot visual servoing|
Uncalibrated visual servoing
|Source:||Zhang, Q.,Ge, X.,Teo, C.-L.,Lim, S.-P. (2005-06). Hybrid Jacobian control for uncalibrated robot visual servoing. Progress in Natural Science 15 (6) : 564-568. ScholarBank@NUS Repository.|
|Abstract:||This paper focuses on the visual servo control of an uncalibrated robotic arm with an eye-in-hand camera. Without a prior knowledge of the kinematics of the robotic arm or camera calibration, the proposed hybrid Jacobian controller can track a moving object using visual feedback and joint-space velocity feedback. The proposed hybrid control method is a combination of the uncalibrated visual servoing and approximate Jacobian feedback control. First, the Jacobian matrix from joint-space to image-space is estimated by recursive least-squares (RLS) algorithm, and then the approximate Jacobian feedback controller is designed by using visual feedback and joint-space velocity feedback. The performances of the proposed control methods are illustrated by computer simulations.|
|Source Title:||Progress in Natural Science|
|Appears in Collections:||Staff Publications|
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