A dynamic Newton’s approximation based estimation scheme is proposed for image-based visual servoing (IBVS) of a redundant manipulator. The estimation schemeapproximates the kinematic Jacobian from joint space to vision space online. The estimated Jacobian is used for redundancy resolution with weighted least norm solution. This work discusses the kinematic limit avoidance with estimated Jacobian for a 7 DOF PowerCube manipulator, hence presenting an approach with reduced computational burden compared to traditional model based visual servoing approaches.
|Title of host publication||Unknown Host Publication|
|Number of pages||6|
|Publication status||Published - 7 Aug 2011|
|Event||International Conference on Mechatronics and Automation - Beijing, China|
Duration: 7 Aug 2011 → …
|Conference||International Conference on Mechatronics and Automation|
|Period||7/08/11 → …|
Siradjuddin, I., McGinnity, TM., Coleman, SA., & Behera, L. (2011). A computationally efficient approach for Jacobian approximation of image based visual servoing for joint limit avoidance. In Unknown Host Publication (pp. 1362-1367). IEEE.