An efficient method to compute the inverse Jacobian matrix in visual servoing
Résumé
The paper presents a method for estimating the inverse Jacobian matrix of a function, without computing the direct Jacobian matrix. The resulting inverse Jacobian matrix is shown to perform much better in modelling a relation $\theta= f^{-1}(x)$ than the classical Moore-Penrose inverse $J^+_f$ . Theoretical insight as well as comparisons in the domain of visual servoing are provided to demonstrate this assertion.
Domaines
Robotique [cs.RO]| Origine | Fichiers produits par l'(les) auteur(s) |
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