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
fDate :
26 April-1 May 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307235
