雅可比矩阵与行列式
视觉伺服
运动学
计算机视觉
人工智能
引力奇点
计算机科学
四边形的
反向动力学
奇点
控制理论(社会学)
数学
机器人
图像(数学)
工程类
几何学
应用数学
控制(管理)
物理
数学分析
结构工程
有限元法
经典力学
作者
Jesús Hernández-Barragán,Carlos Villaseñor,Carlos López-Franco,Nancy Arana‐Daniel,Javier Gómez-Avila
出处
期刊:PeerJ
[PeerJ]
日期:2024-11-29
卷期号:10: e2559-e2559
标识
DOI:10.7717/peerj-cs.2559
摘要
This article presents an implementation of visual servoing (VS) for a redundant mobile manipulator in an eye-in-hand configuration. We used the image based visual servoing (IBVS) scheme, which means the pose control of the robot is based on the error features in the image of a camera. Conventional eye-in-hand VS requires the inversion of a Jacobian matrix, which can become rank deficient, provoking kinematic singularities. In this work, the inversion of the Jacobian matrix is solved using damped least squares (DLS) to reduce singularities and smooth out discontinuities. In addition, a task prioritization scheme is proposed where a primary task performs the eye-in-hand IBVS task, and a secondary task maximizes a manipulability measure to avoid singularities. Finally, a gravity compensation term is also considered and defined on the basis of the image space error. The effectiveness of the proposed algorithm is demonstrated through both simulation and experimental results considering the Kuka YouBot.
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