模型无关的无定标视觉伺服控制

本文首先介绍了视觉伺服的一般原理 .然后提出了一种模型无关的无定标视觉伺服控制方法 ,在这种方法中不需要机器人模型和摄像机模型 ,应用方差最小化的原理推导出了模型无关的无定标视觉伺服控制律 .此外还给出了图像雅可比矩阵的递推公式 .文章最后通过一个轨线跟踪的仿真实验验证了算法的正确性和有效性

This paper first presents the principle of visual servoing, and then proposes a model independent uncalibration visual servo control method. Model independent uncalibration visual servo doesn't need robot kinematics and camera models to control a robot. The control problem is formulated as a nonlinear least squares optimization, and the control law is deduced. The updating equation of image Jacobian matrix is also given. Finally, simulation results of tracking an object demonstrate the validity of the algorithms.

中国科学院沈阳自动化研究所机器人学研究室基金资助 (项目编号 :RL2 0 0 2 0 3)