Stability analysis of visual servo system based on image Jacobian matrix

Yunhao Wang; Qin Kun; Jin Wang; Hong Gao; Xing Li

doi:10.1117/12.2627574

22 April 2022 Stability analysis of visual servo system based on image Jacobian matrix

Yunhao Wang, Qin Kun, Jin Wang, Hong Gao, Xing Li

Proceedings Volume 12163, International Conference on Statistics, Applied Mathematics, and Computing Science (CSAMCS 2021); 121630O (2022) https://doi.org/10.1117/12.2627574
Event: International Conference on Statistics, Applied Mathematics, and Computing Science (CSAMCS 2021), 2021, Nanjing, China

Abstract

With the development of computer vision, visual servo control has been widely used in various fields. This article analyzed the stability of the image visual servo system in application, and provided theoretical and practical data support to engineering researchers when using the technology. The Jacobian matrix of the image based on point features was deduced in detail, and a simulation model in an ideal environment was built to show the convergence process. A 6-DOF manipulator was used for practical application experiments, and several measures to improve stability were described for the existing divergence problems, and the reliability of the technology in engineering applications was improved.

Citation Download Citation

Yunhao Wang, Qin Kun, Jin Wang, Hong Gao, and Xing Li "Stability analysis of visual servo system based on image Jacobian matrix", Proc. SPIE 12163, International Conference on Statistics, Applied Mathematics, and Computing Science (CSAMCS 2021), 121630O (22 April 2022); https://doi.org/10.1117/12.2627574

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available