Application of Exploratory Motion in Visual Servoing Method without Calibration

Abstract

In this paper, an efficient scheme is presented to solve the problem that estimated image Jacobian deteriorates over time in image-based visual servoing control approach without calibration. Through using motion' in the direction in which it is most needed, the precision and velocity are considerably improved. We study the role such exploratory motion can play in a visual servoing task, and will apply it in the following work of guiding to initial welding position with welding robot.