Hand position estimation in binocular visual space using linear approximation of kinematics

A linear visual servoing is based on linear approximation of kinematics made by a constant matrix. The combination of binocular visual space and configuration of a human upper limb and human eyes realizes the linear approximation. In this research, a method of compensating the image-processing delay for the linear visual servoing is proposed. A delay compensation method of image features from the image Jacobian matrix and the joint angle displacements has been proposed. In order to apply this method to the linear visual servoing, a method of compensating delay based on the linear approximate expression is proposed. This method compensates delay by estimating the hand position in the binocular visual space from the linear approximation of kinematics and joint angle displacements. Moreover, a parameter derivation method of the constant matrix is also proposed in order to reduce the estimation error. Accuracy of the proposed method is evaluated through simulations.