A hybrid Jacobian control for uncalibrated robot visual servoing

Visualservocontrolhasbeenanactiveareaofre searchformanyyears.Since1973,therehasbeen significantprogressonvisualservoingcontrol1],and severalspecialissuesonvisualservoinghavebeen published2,3].Therearetwobasicapproachestovi sualservocontrol1]:Position BasedVisualServoing(PBVS)andImage BasedVisualServoing(IBVS).InPBVSsystem,theobject’s3Dposeisrecovered throughcomputervisionandtheerrorbetweenthe currentposeandthedesiredposeiscomputedinthe Cartesiantaskspace.Estimationof3Dmotionsfrom…

A hybrid Jacobian control for uncalibrated robot visual servoing

This paper focuses on the visual servo control of an uncalibrated robotic arm with an eye-in-hand camera. Without a prior knowledge of the kinematics of the robotic arm or camera calibration, the proposed hybrid Jacobian controller can track a moving object using visual feedback and joint-space velocity feedback. The proposed hybrid control method is a combination of the uncalibrated visual servoing and approximate Jacobian feedback control. First, the Jacobian matrix from joint-space to image-space is estimated by recursive leastsquares (RLS) algorithm, and then the approximate Jacobian feedback controller is designed by using visual feedback and joint-space velocity feedback. The performances of the proposed control methods are illustrated by computer simulations.