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

Indrazno Siradjuddin; TM McGinnity; SA Coleman; Laxmidhar Behera

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 proceeding › Conference contribution › peer-review

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 language	English
Title of host publication	Unknown Host Publication
Publisher	IEEE
Pages	1362-1367
Number of pages	6
ISBN (Print)	978-1-4244-8114-9/11
Publication status	Published (in print/issue) - 7 Aug 2011
Event	International Conference on Mechatronics and Automation - Beijing, China Duration: 7 Aug 2011 → …

Conference

Conference	International Conference on Mechatronics and Automation
Period	7/08/11 → …

Cite this

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

abstract = "A dynamic Newton{\textquoteright}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.",

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AU - Siradjuddin, Indrazno

AU - McGinnity, TM

AU - Coleman, SA

AU - Behera, Laxmidhar

PY - 2011/8/7

Y1 - 2011/8/7

N2 - 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.

AB - 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.

M3 - Conference contribution

SN - 978-1-4244-8114-9/11

SP - 1362

EP - 1367

BT - Unknown Host Publication

PB - IEEE

T2 - International Conference on Mechatronics and Automation

Y2 - 7 August 2011

ER -

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

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