@inproceedings{1604b93995f04b78b7127cc97083f130,
title = "Model Predictive Control for Uncalibrated Visual Servoing Based on Broyden Estimation",
abstract = "The development of machine vision and related technologies in recent years has led to a widespread use of visual servoing in robotics. However, obtaining accurate parameters of camera and robot often necessitates a complex calibration process, making the determination of the projection relationship between image changes and robot joint movements a laborious undertaking. In order to solve the problem, Broyden estimation is applied in this paper to estimate the combined Jacobian matrix online, and the estimation results are then introduced into a model predictive controller to solve the dynamic visual tracking problem, while the constraints of joint angles and velocities are considered. The simulation results verify the effectiveness of the proposed algorithm.",
keywords = "Broyden estimation, Combined jacobian, Model predictive control, Visual servoing",
author = "Ning Han and Xuemei Ren and Dongdong Zheng",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 19th Chinese Intelligent Systems Conference, CISC 2023 ; Conference date: 14-10-2023 Through 15-10-2023",
year = "2023",
doi = "10.1007/978-981-99-6886-2_38",
language = "English",
isbn = "9789819968855",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "441--450",
editor = "Yingmin Jia and Weicun Zhang and Yongling Fu and Jiqiang Wang",
booktitle = "Proceedings of 2023 Chinese Intelligent Systems Conference - Volume III",
address = "Germany",
}