• DocumentCode
    414039
  • Title

    An efficient method to compute the inverse Jacobian matrix in visual servoing

  • Author

    Lapreste, J.T. ; Jurie, E. ; Dhome, M. ; Chaumette, F.

  • Author_Institution
    LASMEA, Univ. Blaise Pascal, Aubiere, France
  • Volume
    1
  • fYear
    2004
  • fDate
    26 April-1 May 2004
  • Firstpage
    727
  • Abstract
    The work presents a method for estimating the inverse Jacobian matrix of a function, without computing the direct Jacobian matrix. The resulting inverse Jacobian matrix is shown to perform much better in modelling a relation θ = f-1 (x) than the classical Moore-Penrose inverse J+f. Theoretical insight as well as comparisons in the domain of visual servoing are provided to demonstrate this assertion.
  • Keywords
    Jacobian matrices; image motion analysis; classical Moore-Penrose inverse; inverse Jacobian matrix estimation; visual servoing; Computer aided software engineering; Equations; Image sequences; Inverse problems; Jacobian matrices; Kinematics; Least squares methods; Robots; Taylor series; Visual servoing;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-8232-3
  • Type

    conf

  • DOI
    10.1109/ROBOT.2004.1307235
  • Filename
    1307235
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=414039