[1]李 牧,庞 明,王晓宇.不需要标定系统模型的“眼在手上”视觉伺服控制技术[J].智能系统学报,2007,2(06):60-64.
 LI Mu,PANG Ming,WANG Xia-yu.Technique for uncalibrated eyeinhand visual servoing[J].CAAI Transactions on Intelligent Systems,2007,2(06):60-64.
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第2卷
期数:
2007年06期
页码:
60-64
栏目:
出版日期:
2007-12-25

文章信息/Info

Title:
Technique for uncalibrated eyeinhand visual servoing
文章编号:
1673-4785(2007)06-0060-05
作者:
李 牧庞 明王晓宇
哈尔滨工业大学机器人研究所,黑龙江哈尔滨150080
Author(s):
LI Mu PANG Ming WANG Xia-yu
Institute of Robotics, Harbin Institute of Technology, Harbi n 150080,China
关键词:
无标定视觉伺服控制复合图像雅克比矩阵逼近雅克比矩阵差分
Keywords:
uncalibrated visual servoing Jacobian matrix approaching of composite image Jacobian matrix difference
分类号:
TP242.6
文献标志码:
A
摘要:
工业实践中不可能精确地标定摄像机和机器人模型,但当前的视觉伺服控制都需要标定系统模型.针对这一现象,提出一种新颖的、能应用于“眼在手上”视觉伺服控制结构的动态无标定的视觉伺服控制算法,无需标定摄像机和机器人运动学模型即可跟踪运动物体,通过将非线性目标函数最小化,以视觉信息跟踪动态图像.针对目前视觉伺服控制系统中“ 眼在手上”系统的复合雅克比矩阵随每个时间增量的变化无法计算的现象,提出了对每一时间增量时刻的图像雅克比矩阵的变化做出估计的方法,仿真实验证明了上述方法的正确性和有效性.
Abstract:
It is impossible to precisely calibrate cameras and robotic models in industrial practice, but most of the current visual servoing systems must calibrate their system model. Therefore, a novel dynamic uncalibrated eyeinhand visual servo in g system is proposed, which can track moving targets without needing to calibrat e the camera and the kinematic model of the robot. A vision guiding algorithm fo r tracking dynamic images was developed by minimizing the nonlinear objective fu nction. In current eyeinhand visual servoing systems, it is impossible to ca lc ulate changes to the composite Jacobian matrix with every time increment. To sol ve this problem, in this paper, we propose a method to estimate this change. Sim ulation results demonstrated the effectiveness of the approach.

参考文献/References:

[1]CHAUMETTE F, MALIS E. 2 1/2D visual servoing:a possible solution to improve imagebased and positionbased visual servoings[A]. Proc IEEE Int Conf Robotics and Automation[C]. San Francisco,CA, 2000. 
[2]HUTCHINSON S, HAGER G D, CORKE P I .A tutorial on visual s ervo contro l[J ]. IEEE Trans on Robot and Automation, 1996(12):651-670.
[3]MALIS E. Visual servoing invarant to changes in cameraintrinsic parameter s[J]. IEEE Trans on Robotics and Automation,2004,20(1):72-81.
[4]HOSADA K, ASADA M. Versatile visual servoing without knowledge of tur e Jac obin[A]. Proc IEEE/RSJ Int Conf Intell Robot System[C].New York,1994
[5]赵 杰,李 牧,李 戈,等.一种无标定视觉伺服控制技术的研究[J].控制与决策,2006,21(9):1015-1019.
 ZHAO Jie, LI Mu, LI Ge, et al.Study on uncalibrated visual servoing technique [J].Control and Decision,2006,21(9):1015-1019.
[6]PIEPMEIER J A, MCMURRAY G V, LIPKIN H. Uncalibrated eyeinhand v isual servoing[A]. Proc IEEE Int Conf Robotics and Automation[C]. Washington ,DC, 2002.
[7]谢新民,丁 锋. 自适应控制系统[M].北京:清华大学出版社,2002.
[8]CORKE P I.A robotics toolbox for Matlab[J]. IEEE Robot Autom at Mag, 1996,3:24-32.

备注/Memo

备注/Memo:
收稿日期:2007-03-29.
基金项目:
长江学者和创新团队发展计划资助项目(IRT0423);
中国高技术研究发展计划资助项目(2006AA04Z245)
作者简介:
李 牧,男,1977年生,博士研究生,主要研究方向为机器人视觉、数字图像处理. E-mail :mulihit@163.com .
更新日期/Last Update: 2009-05-09