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

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

Siradjuddin, Indrazno, McGinnity, TM, Coleman, SA and Behera, Laxmidhar (2011) A computationally efficient approach for Jacobian approximation of image based visual servoing for joint limit avoidance. In: International Conference on Mechatronics and Automation, Beijing, China. IEEE. 6 pp. [Conference contribution]

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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.

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:19795
Deposited By:Dr Sonya Coleman
Deposited On:25 Aug 2011 15:10
Last Modified:25 Aug 2011 15:10

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