Online estimation of Image Jacobian Matrix for uncalibrated dynamic hand-eye coordination

Authors:
Jianbo Su;Yanjun Zhang;Zhiwei Luo
Affiliations:
Department of Automation, Shanghai Jiaotong University, Shanghai, 200240, China.;Department of Automation, Shanghai Jiaotong University, Shanghai, 200240, China.;Bio-Mimetic Control Research Center, RIKEN Anagahora, Shimoshidami, Moriyama-ku, Nagoya, 463-0003, Japan
Venue:
International Journal of Systems, Control and Communications
Year:
2008

Citing 3
Cited 0

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Abstract

This paper focuses on three different strategies for online estimation of the Image Jacobian Matrix (IJM) in uncalibrated robotic visual servoing, with the help of different scenarios of system configurations and coordination tasks that are prevalent in current research. The least square estimation method and the constant IJM policy are proposed for monocular visual feedback, while a Kalman filter-based method is proposed for a stereovision system. The PI control law and the optimal control theory are respectively adopted for coordination controllers to suit different control purposes. Extensive simulations and experiments are provided to evaluate performance of the proposed methods.