Redundant Arm Control by Linear Visual Servoing Using Pseudo Inverse Matrix

摘要

We proposed a simple visual servoing scheme called linear visual servoing (indicated as LVS). It is based on the linearity of the transformation from binocular visual space to joint space of the arm of the humanoid robot which has a similar kinetic structure as a human being. LVS is very robust to calibration errors, especially to camera angle errors, because it uses constant Jacobian matrix with neither camera angles nor joint angles to calculate feedback command. Furthermore, the amount of calculation is very small compared to conventional visual servoing schemes. Hence, it is especially suitable for humanoid robots which use active stereo vision. But conventional LVS can not deal with redundant arm, because it is based on linear approximation of inverse kinematics. In this paper, we propose a redundant arm positioning control method by linear visual servoing based on linear approximation of forward kinematics. Simulation and experimental results are presented to demonstrate the effectiveness of the proposed method