Application of Pseudo-inverse Estimation of Image Jacobian Matrix to Visual Servoing
KANG Qing-sheng1,2, MENG Zheng-da1, DAI Xian-zhong1
1. Department of Automatic Control, Southeast University, Nanjing 210096, China; 2. Research & Development Center, Aerosun Corporation, Nanjing 211100, China
Abstract：Based on the general uncalibrated visual servoing algorithm,this paper presents a new visual servoing control scheme which estimates pseudo-inverse of image Jacobian matrix based on recursive least square algorithm.This method doesn’t compute the Moore-Penrose inverse of image Jacobian.Stability condition of the proportional control algorithm is given for a fixed target.For moving targets,the quasi-Gauss-Newton and trust region visual servoing control strategies are deduced based on pseudo-inverse estimation of image Jacobian matrix. In the end,the performance of three visual servoing algorithms is validated by simulations.
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