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.
LanguageEnglish
Title of host publicationUnknown Host Publication
Pages1362-1367
Number of pages6
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 → …

Fingerprint

Visual servoing
Kinematics
Redundant manipulators
Manipulators
Redundancy

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’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.",
author = "Indrazno Siradjuddin and TM McGinnity and SA Coleman and Laxmidhar Behera",
year = "2011",
month = "8",
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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, International Conference on Mechatronics and Automation, 7/08/11.

A computationally efficient approach for Jacobian approximation of image based visual servoing for joint limit avoidance. / Siradjuddin, Indrazno; McGinnity, TM; Coleman, SA; Behera, Laxmidhar.

Unknown Host Publication. 2011. p. 1362-1367.

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

TY - GEN

T1 - A computationally efficient approach for Jacobian approximation of image based visual servoing for joint limit avoidance.

AU - Siradjuddin, Indrazno

AU - McGinnity, TM

AU - Coleman, SA

AU - Behera, Laxmidhar

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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

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BT - Unknown Host Publication

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