[1]LIU Ding,GUO Lan-bin,YANG Yan-xi.Image Jacobian-based intelligent robot visual tracking[J].CAAI Transactions on Intelligent Systems,2006,1(1):57-61.
Copy

Image Jacobian-based intelligent robot visual tracking

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 1 Number of periods: 2006 1 Page number: 57-61 Column: 学术论文—机器感知与模式识别 Public date: 2006-03-25
Title:
Image Jacobian-based intelligent robot visual tracking
Author(s):
LIU Ding;  GUO Lan-bin;  YANG Yan-xi
Information & Control Engineering，Xi’an University of Techn ology，Xi’an 710048，China
Keywords:
intelligent robot;  uncalibrated visual servoing;  imag e Jacobian matrix;  Sage-Husa adaptive filter
CLC:
TP301，TP342
DOI:
-
Abstract:
MOTOMANSV3XL industrial robot visual servoing contr o l system was constructed with the fixed eye accordingto the requirement of intel ligent visual se rvoing. The image Jacobianbased measure, which has been used most extensively in current robot visual servoing field, was studied. And based on the succinct SaguHusa adaptive filter theory,an online estimation algorithm for image Jacobian matrix was designed and applied in the tasks of the robot visual feedback control, which performed the tracking of moving objective in the 2D pl atform. The results show the validity of the algorithm.
References:
［1］HUTCHINSON S, HAGER G D,CORKE P I. A tutorial on visua l servo control ［J］. IEEE Trans on Robotics and Automation, 1996,12(5):651-670.
［2］SUTANTO H, SHARMA R, VARMA V. Image based autodocking without cal ibrat ion［A］.Proc IEEE International Conference on Robotics and Automation［C］. Albuquerque, New Mexico,1997.
［3］WEISS L E, SANDERSON A C, NEUMAN C P. Dynamic sensorbased c ontrol of robots with visual feedback ［J］. IEEE Journal of Robotics and Automations, 1987,3(5):404-417.
［4］岳晓奎，袁建平.一种基于极大似然准则的自适应卡尔曼滤波算法［J］ .西北工业大学学报，2005，23(4):469-474.
?YUE Xiaokui, Yuan Jianping. An adaptive Kalman filtering algorithm based on ma ximum-likelihood criterion［J］. Journal of Northwestern Polytechnical Universi ty, 2005，23(4):469-474.
［5］WELCH G, BISHOP G. An introduction to the Kalman filter［OL］. 2004,4,5 http://www.cs.unc.edu.
［6］JAGERSAND M, FUENTES O, NELSON R. Experimental evaluatio n of uncalibrated visual servoing for precision manipulation［A］. In Proc IEEE International Conference on Robotics and Automation［C］. Albuquerque, New Mexi co, 1997.
［7］杨延西，刘??? 丁，闫振杰.图像反馈机器人视觉伺服系统仿真［J］.系统仿真学报，2003,15(12):1737-1740.
YANG Yanxi, LIU Ding, YAN Zhenjie. Simulation of image feedback robot manip ulator visual servo system［J］.Journal of System Simulation, 2003,15(12)：1737- 1740.
Similar References:

Memo

-

Last Update: 2009-04-07

Copyright © CAAI Transactions on Intelligent Systems