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.
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Zhang, J., Liu, D., Yang, Y., Zheng, G. (2012). Improved Method of Robot Trajectory in IBVS Based on an Efficient Second-Order Minimization Technique. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_39
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DOI: https://doi.org/10.1007/978-3-642-33503-7_39
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33502-0
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