Vision servoing based on online estimation of image Jacobian matrix of Broyden;

This paper presents the general principle of robotic visual servo first,and then the global image descriptor-image moments from which the image jacobian matrix is derived are adopted to describe the image features,also the modal independent uncalibrated visual servo methord is proposed in use of lyapunov stability methord.

Based on the general uncalibrated visual servoing algorithm,this paper presents a new visual servoing control scheme which estimates pseudo-inverse of image Jacobian matrix based on recursive least square algorithm.

In the robotic visual servo system based on the position,It is need to build an Image Jacobian which transforms two-dimensional image information to three-dimensional coordinate information.

This method didn t need robot kinematics and camera model,the image Jacobian was estimated using the recursive least squares algorithm,the robot system was controlled by variable structure control theory to the design of the controller.

Study on the kinematics analysis and the Jacobian matrix of an articulated manipulator;

Research on use of Jacobian matrix on analysis of manipulators joint velocity and torque;

In order to study on dexterity measures of parallel machine tool(PMT) and its application in real processing,a novel 5-Degrees of Freedom(DOF) fully PMT consisting of five actuating limbs and one passive constraint limb is introduced,and its Jacobian matrix is established.