十分钟回顾视觉伺服基础知识点

Questions

1.Recall the definition of the interaction matrix and feature Jacobian.
Write an expression that involves the three potential control spaces of a robot.

Here is the definition of interaction matrix,which could tell us feature varieties when camera moves.
$$\dot{s}=\left(\frac{\partial s}{\partial r}\right)\frac{dr}{dt}=J_{s}T$$
where T is a camera velocity screw.$V$ and $\Omega$ represent its translational and rotational component respectively.
$$T=\frac{dr}{dt}={\left(V^T,{\Omega }^T\right)}^T$$
In our course, we represent the matrix as following.
$$\dot{s}=L_s{\mathbf{v}}_{\mathbf{c}}$$
Then we have to understand the definition of feature Jacobian.It tells how features change when robot moves.
$$\dot{s}=J_s\dot{\mathbf{q}}$$
First,we have Jacobian matrix between joint velocities and end-effector velocities.
$${}^{base}{\mathbf{v}}_{\mathbf{e}}=J_q\dot{\mathbf{q}}$$
We have $${}^e{\mathbf{v}}_e=\left[\begin{array}{cc}{}^e{\mathbf{R}}_b& 0_{3\times 3}\\ 0_{3\times 3}& {}^e{\mathbf{R}}_b\end{array}\right]{}^b{\mathbf{v}}_e$$

$${}^c{\mathbf{v}}_c=\left[\begin{array}{cc}{}^c{\mathbf{R}}_e& {\left[{}^c{\mathbf{t}}_e\right]}_{\times }{}^c{\mathbf{R}}_c\\ 0_{3\times 3}& {}^c{\mathbf{R}}_e\end{array}\right]{}^e{\mathbf{v}}_e={}^c{\mathbf{W}}_e{}^e{\mathbf{v}}_e$$
We want to link velocities of the end-effector velocities and the camera velocities.Finally,we can obtain :
$$J_s=L_s{}^c{\mathbf{W}}_e^e{\mathbf{R}}_b{J}_q$$
THe size of the feature matrix is $(m\times n)$,$L_s(m\times 6)$,$J_q(6\times n)$.

QUESTION:I am still confused about the following equation.Why $\frac{\partial {\mathbf{s}}_i}{\partial t}-\frac{\partial {\mathbf{s}}_i^{\ast }}{\partial t}$ disappears and ${\dot{e}}_i={\dot{s}}_i$
$${\dot{\mathbf{e}}}_i=\frac{\partial {\mathbf{s}}_i}{\partial \mathbf{q}}\dot{\mathbf{q}}+\frac{\partial {\mathbf{s}}_i}{\partial t}-\frac{\partial {\mathbf{s}}_{}}{\partial t}$$