MODEL INDEPENDENT UNCALIBRATION VISUAL SERVO CONTROL

摘要

This paper first presents the principle of visual servoing, and then proposes a model independent uncalibration visual servo control method. Model independent uncalibration visual servo doesn't need robot kinematics and camera models to control a robot. The control problem is formulated as a nonlinear least squares optimization, and the control law is deduced. The updating equation of image Jacobian matrix is also given. Finally, simulation results of tracking an object demonstrate the validity of the algorithms.