[1]方勇纯.机器人视觉伺服研究综述[J].智能系统学报,2008,3(2):109-114.
　FANG Yong-chun.A survey of robot visual servoing[J].CAAI Transactions on Intelligent Systems,2008,3(2):109-114.
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机器人视觉伺服研究综述

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 3 期数: 2008年第2期 页码: 109-114 栏目: 综述 出版日期: 2008-04-25
Title:
A survey of robot visual servoing
文章编号:
1673-4785(2008)02-0109-06
作者:
方勇纯
南开大学信息技术科学学院, 天津 300071
Author(s):
FANG Yong-chun
College of Information Technical Science, Nankai University, T ianjin 300071，China
关键词:
机器人; 视觉伺服; 轨迹规划; 鲁棒性
Keywords:
robot;  visual servoing;  path planning;  robustness
分类号:
TP24
文献标志码:
A
摘要:
首先对于3种机器人视觉伺服策略,即基于位置的视觉伺服、基于图像的视觉伺服以及2.5维视觉伺服进行了讨论.然后,对于视觉伺服的研究方向和面临的主要问题,如机器人位姿提取、视觉伺服系统的不确定性研究、图像空间的路径规划、智能视觉伺服等进行了分析和讨论.在此基础上,对于机器人视觉伺服领域的未来研究重点,包括如何使参考点位于视场之内,高速伺服策略以及鲁棒视觉伺服技术进行了分析和展望.
Abstract:
In this survey of visual servoing in robotics three visual servoing strategies are discussed: positionbased visual servoing, imagebased visual servoing, and 2.5 D visual servoing. The main research directions and some challenging problems in the visual servoing field are discussed, including the extraction of position/pose information from images, uncertainties in visual servoing systems, path planning in an image space, and intelligent visual seroving. Additionally, possible future research areas are analyzed. Examples are the challenge of keeping reference points within camera images, fast servoing strategies, and robust visual servoing technologies.
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备注/Memo

收稿日期：2007-09-20.
基金项目：
国家自然科学基金资助项目(60574027)； 天津市应用基础研究计划资助项目(07JCYBJC05400).
作者简介：方勇纯, 男, 1973年生，教授，博士生导师,IEEE高级会员,中国自动化学会智能自动化专业委员会委员,主要研究方向为复杂系统非线性控制、机器人视觉控制等. 发表论文60多篇, 其中40余篇被SCI或EI检索.
通讯作者：方勇纯.E-mail: yfang@robot.nankai.edu.cn.

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