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• W2169074749 abstract "A dynamic Newton's approximation based estimation scheme is proposed for image-based visual servoing (IBVS) of a redundant manipulator. The estimation scheme approximates the kinematic Jacobian from joint space to vision space online. The estimated Jacobian is used for redundancy resolution with weighted least norm solution. This work discusses the kinematic limit avoidance with estimated Jacobian for a 7 DOF PowerCube manipulator, hence presenting an approach with reduced computational burden compared to traditional model based visual servoing approaches." @default.
• W2169074749 created "2016-06-24" @default.
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• W2169074749 date "2011-08-01" @default.
• W2169074749 modified "2023-10-18" @default.
• W2169074749 title "A computationally efficient approach for Jacobian approximation of image based visual servoing for joint limit avoidance" @default.
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• W2169074749 doi "https://doi.org/10.1109/icma.2011.5985860" @default.
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