Title: An iterative robot-image Jacobian approximation of image-based visual servoing for joint limit avoidance

Authors: Indrazno Siradjuddin; T. Martin McGinnity; Sonya Coleman; Laxmidhar Behera

Addresses: Intelligent Systems Research Centre, University of Ulster, Magee Campus, Northland Road BT48 7JL, Northern Ireland, UK. ' Intelligent Systems Research Centre, University of Ulster, Magee Campus, Northland Road BT48 7JL, Northern Ireland, UK. ' Intelligent Systems Research Centre, University of Ulster, Magee Campus, Northland Road BT48 7JL, Northern Ireland, UK. ' Intelligent Systems Research Centre, University of Ulster, Magee Campus, Northland Road BT48 7JL, Northern Ireland, UK

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.

Keywords: redundant robots; redundant manipulators; image-based visual servoing; IBVS; robot-image Jacobian; Jacobian approximation; mechatronics; redundancy resolution; joint limit avoidance; robot control; robot motion; monovision; eye-in-hand systems; simulation.

DOI: 10.1504/IJMA.2012.050497

International Journal of Mechatronics and Automation, 2012 Vol.2 No.4, pp.227 - 239

Available online: 29 Nov 2012 *

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