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Title: Hybrid Jacobian control for uncalibrated robot visual servoing
Authors: Zhang, Q.
Ge, X.
Teo, C.-L. 
Lim, S.-P. 
Keywords: Jacobian control
Robot control
Uncalibrated visual servoing
Issue Date: Jun-2005
Citation: 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
ISSN: 10020071
Appears in Collections:Staff Publications

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