An iterative robot-image Jacobian approximation of image-based visual servoing for joint limit avoidance. (1st January 2012)

• Record Type: Journal Article
• Authors: Siradjuddin, Indrazno; McGinnity, T. Martin; Coleman, Sonya; Behera, Laxmidhar
• Is Part Of: International journal of mechatronics and automation. Volume 2:Number 4(2012)
• Page Start: 227
• Page End: 239
• Publication Date: 2012-01-01
• Subjects: a redundant robotics manipulator -- image-based visual servoing -- IBVS -- robot-image Jacobian approximation -- mechatronics automation -- redundancy resolution -- joint limit avoidance; Mechatronics -- Periodicals; Automation -- Periodicals; 629.8905
• Languages: English
• ISSNs: 2045-1059

Abstract

In this paper, we propose a new method addressing the robot-image Jacobian approximation of image-based visual servoing (IBVS) for a redundant manipulator. The robot-image Jacobian is approximated iteratively and is a model free. A linearised model of the robot-image Jacobian is applied, based on the first order Taylor series approximation. A weighted least norm solution is induced in a pseudo inverse computation of the approximated robot-image Jacobian. The resulting control law then can be used for visual servoing tasks with joint limit avoidance capability using both a static target or moving target. The self-motion of the robot joints resolves the redundancy during visual servoing tasks when one or more joints are approaching their joint limits. A design and stability analysis of the proposed method is discussed in this paper. Simulated and real-time experiments using a 7 DOF PowerCube robot manipulator are conducted. The IBVS is configured using a monovision eye-in-hand system configuration. The system behaviour and performances of the proposed method are presented and analysed.