Abstract
It is necessary for controlling the robot manipulator to acquire an image Jacobian matrix in the field of uncalibrated visual servo for image-based. In fact, it is difficult to do. In this article, a new controller of uncalibrated visual servo is proposed, which uses pseudo inverse of image Jacobian matrix of robot manipulators. On the basis of the mathematical model of robot, asymptotic convergence is proved by the Lyapunov theory, which means the image errors to zero. Simulations is carried out, which verify performances of the presented scheme.
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Acknowledgements
This work was supported by Natural Science Foundations of Shandong province (ZR2017LF010), and the Project between industry and education of Ministry of education for Zaozhuang University-Ugrow Co.
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Yang, Z., Wang, F., Lv, J., Dong, X. (2019). A Method Based on Pseudo Inverse of Image Jacobian Matrix on Uncalibrated Visual Control for Robot. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2018 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 529. Springer, Singapore. https://doi.org/10.1007/978-981-13-2291-4_61
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DOI: https://doi.org/10.1007/978-981-13-2291-4_61
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