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- W4387423347 abstract "The development of machine vision and related technologies in recent years has led to a widespread use of visual servoing in robotics. However, obtaining accurate parameters of camera and robot often necessitates a complex calibration process, making the determination of the projection relationship between image changes and robot joint movements a laborious undertaking. In order to solve the problem, Broyden estimation is applied in this paper to estimate the combined Jacobian matrix online, and the estimation results are then introduced into a model predictive controller to solve the dynamic visual tracking problem, while the constraints of joint angles and velocities are considered. The simulation results verify the effectiveness of the proposed algorithm." @default.
- W4387423347 created "2023-10-08" @default.
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- W4387423347 date "2023-01-01" @default.
- W4387423347 modified "2023-10-08" @default.
- W4387423347 title "Model Predictive Control for Uncalibrated Visual Servoing Based on Broyden Estimation" @default.
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- W4387423347 doi "https://doi.org/10.1007/978-981-99-6886-2_38" @default.
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