A Simulation Research on the Visual Servo Based on Pseudo-Inverse of Image Jacobian Matrix for Robot

Wang Fang; Yang Zhen; Q.S Kang; Shang Dong Xi; Lin Yang Shang

doi:10.4028/www.scientific.net/AMM.494-495.1212

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 494-495A Simulation Research on the Visual Servo Based on...

A Simulation Research on the Visual Servo Based on Pseudo-Inverse of Image Jacobian Matrix for Robot

Abstract:

The image Jacobian Matrix must obtain during the course of uncalibrated visual servo for classic algorithms firstly. Then the inverse of image Jacobian Matrix or pseudo-inverse of image Jacobian Matrix can be taken. But when the inverse of image Jacobian Matrix is not exist or pseudo-inverse of image Jacobian Matrix is not easy to get, the uncalibrated visual servo for robot can not realize. In this paper, a research is carried on by simulation between the classic method for uncalibrared visual servo and the strategy by computing pseudo-inverse of image Jacobian Matrix. It is conclusion that the latter not only has advantage of the performance for tracking, but also reduces computational complexity for control.

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Periodical:

Applied Mechanics and Materials (Volumes 494-495)

Pages:

1212-1215

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.494-495.1212

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Online since:

February 2014

Authors:

Wang Fang*, Yang Zhen, Q.S Kang, Shang Dong Xi, Lin Yang Shang

Keywords:

Image Jacobian Matrix, Pseudo-Inverse, Robot, Visual Servo

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