Information Technology Reference
In-Depth Information
Image-based visual servo control
Puma 560
q6
To Workspace3
plot
MATLAB
Function
0
MATLAB
Function
cond()
0
uv
visjac
condition
q
manip jac condition
To Workspace1
Scope
Puma 560
-1
J
Puma 560
q
J
J
Ji
n
Matrix
Multiply
1
s
MATLAB
Function
pinv
J
q
T
T
uv
uv
J
q
Matrix
Multiply
jacobn
ijacob
Rate
controlled
robot
axes
fkine
visual
Jacobian
camera
256 456
456 456
MATLAB
Function
simout
feature vel
To Workspace2
desired
image plane
coordinates
0.00
0.00
MATLAB
Function
0
feature error
norm
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