Improved method of robot trajectory in IBVS based on an efficient second-order minimization technique

Authors:
Jie Zhang;Ding Liu;Yanxi Yang;Gang Zheng
Affiliations:
School of Automation and Information Engineering, Xi'an University of Technology, Xi'an, China;School of Automation and Information Engineering, Xi'an University of Technology, Xi'an, China;School of Automation and Information Engineering, Xi'an University of Technology, Xi'an, China;School of Automation and Information Engineering, Xi'an University of Technology, Xi'an, China
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Year:
2012

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Abstract

In image-based visual servoing, image space trajectories are desired, while those in Cartesian space are always distorted. In order to improve the 3D robot trajectory, this paper suggests a new servoing method based on an Efficient Second-order Minimization technique and the idea of interpolation intermediate image features. In this algorithm, each robot displacement is determined with image features and corresponding Jacobians at present, initial and desired pose; error signals decrease with uniform speed in the whole operation process since the proposed algorithm divides the servoing task into multi-subtasks. Finally, the algorithm is verified through simulations.