A computationally efficient approach for Jacobian approximation of image based visual servoing for joint limit avoidance.

Indrazno Siradjuddin, TM McGinnity, SA Coleman, Laxmidhar Behera

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.
Original languageEnglish
Title of host publicationUnknown Host Publication
PublisherIEEE
Pages1362-1367
Number of pages6
ISBN (Print)978-1-4244-8114-9/11
Publication statusPublished - 7 Aug 2011
EventInternational Conference on Mechatronics and Automation - Beijing, China
Duration: 7 Aug 2011 → …

Conference

ConferenceInternational Conference on Mechatronics and Automation
Period7/08/11 → …

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