Gradient Projection Methods for Constrained Image-based Visual Servo - Visual Servoing via Advanced Numerical Methods - page 257

Image-based visual servo control

uv_o
To Workspace1

Puma 560

q

plot MATLAB

Function

0

T uv uv J

To Workspace2

MATLAB
Function
cond()

0
manip jac condition

visjac
condition

q84

visual
Jacobian of Occlusion

camera1

qdot_ori
To Workspace4

uv
To Workspace3

Puma 560

J -1

Puma 560

q n J J Ji

1
s

Matrix
Multiply

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
desired
image plane
coordinates

MATLAB
Function

qdot_add
To Workspace5

feature vel

To Workspace8

0.00 0.00

MATLAB
Function

0

feaError

feature error
norm

0.00

feature
error

Cartesian velocity dmd

Cartesian velocity dmd1

feature error

desired camera velocity

-0.1

pro
Projection