Gradient Projection Methods for Constrained Image-based Visual Servo - Visual Servoing via Advanced Numerical Methods - page 252

Image-based visual servo control

Puma 560

q

To Workspace2

plot q84 MATLAB

Function

0

MATLAB
Function
cond()

0

Scope

visjac
condition

manip jac condition

Puma 560

J -1

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 feature vel

To Workspace4

desired
image plane
coordinates

simout3

0.00

0.00

MATLAB
Function

0

feature error
norm 0.00

feature
error

Cartesian velocity dmd