Versatile visual servoing without knowledge of true Jacobian

@article{Hosoda1994VersatileVS,
  title={Versatile visual servoing without knowledge of true Jacobian},
  author={K. Hosoda and M. Asada},
  journal={Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)},
  year={1994},
  volume={1},
  pages={186-193 vol.1}
}
  • K. Hosoda, M. Asada
  • Published 1994
  • Mathematics, Computer Science
  • Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)
Proposes a versatile visual servoing control scheme with a Jacobian matrix estimator. The Jacobian matrix estimator does not need a priori knowledge of the kinematic structure and parameters of the robot system, such as camera and link parameters. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories, by using the estimated Jacobian matrix, which is proved by the Lyapunov stability theory. To show the effectiveness of the proposed… Expand
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