视觉伺服分类及其动态过程

对视觉伺服进行了综述性的介绍,系统地介绍了机器人视觉伺服控制的发展历史以及现状·从控制模型给出了视觉伺服控制系统的分类·针对两种最基本的分类方式基于位置的视觉伺服和基于图像的视觉伺服进行了重点介绍·对于视觉系统和图像特征的选取问题进行了讨论,此外还对视觉伺服系统的动态过程进行了分析,指出视觉系统的延时是目前伺服控制的研究所面临的最大问题·对未来视觉伺服研究的方向进行了总结·

A survey of robotic visual servoing systems was p re sented. The developing history and current research of robotic visual servoing s ystems were reviewed. Robotic visual servoing systems can be categorized accord ing to its controlling model. Normally, visual servoing systems can be classifie d into two major typesposition-based and image-based visual servoing. Pos iti on-based and image-based visual servoing systems were discussed in detail. Vis ion subsystem of robotic visual-servoing systems and the selection of image fea tures from the digital images were presented and discussed briefly. The dynamic s of robot visual servoing systems was analyzed in detail. Several future resear ches on robotic visual servoing were pointed out.

国家高技术研究发展计划项目(2001AA422270);;中国科学院沈阳自动化研究所机器人学研究室基金资助项目(RL200203)