Robust Estimation of Jacobian Matrix for Image-based Robotic Visual Servoing Tasks

D.I. Kosmopoulos and C.S. Psomopoulos (Greece)


Image–based visual servoing, Jacobian estimation


A method for estimating through training the feature Jacobian for image-based closed-loop robot manipulator control is presented. The resulting Jacobian is independent of depth information and models the desired end-effector pose with respect to an image-feature vector. The estimation is performed locally, in the workspace volume, where the task is expected to be performed and therefore is applicable in semi structured environments. The employment of a robust estimator minimizes the influence of outliers due to feature extraction noise. The validity of the method is demonstrated through some typical experimental results of a robot system with four cameras mounted on the manipulator.

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