关键词: 图像视觉伺服, 增量式极限学习机, 图像雅可比矩阵伪逆

Abstract: The main problem to solve the robot visual servo control in unstructured environment is to obtain the interaction matrix. The common problem to solve the interaction matrix is the singularity of the pseudo-inverse of the interaction matrix. Aiming at this problem, a new image-based visual servoing control method is proposed, using the incremental extreme learning machine to solve the problem of pseudo-inverse approximation of the image Jacobian matrix. In order to improve the convergence speed of the system, a speed improvement controller with an adaptive factor is adopted. Finally, a six-degree-of-freedom manipulator simulation is used to verify the effectiveness and advantages of the proposed method. The algorithm improves the robustness of the system and avoids the problem of calculating the pseudo inverse of Jacobian matrix.

Key words: image-based visual servoing, incremental extreme learning machine, pseudo-inverse of the image Jacobian