[1]刘 丁,郭蓝彬,杨延西.基于图像雅可比矩阵的智能机器人视觉跟踪[J].智能系统学报,2006,1(1):57-61.
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.
点击复制
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.
基于图像雅可比矩阵的智能机器人视觉跟踪
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
1
期数:
2006年第1期
页码:
57-61
栏目:
学术论文—机器感知与模式识别
出版日期:
2006-03-25
- Title:
- Image Jacobian-based intelligent robot visual tracking
- 文章编号:
- 1673-4785(2006)01-0057-05
- 关键词:
- 智能机器人; 无标定视觉伺服; 图像雅可比矩阵; Sage-Husa自适应滤波
- Keywords:
- intelligent robot; uncalibrated visual servoing; imag e Jacobian matrix; Sage-Husa adaptive filter
- 分类号:
- TP301，TP342
- 文献标志码:
- A
- 摘要:
- 根据智能机器人视觉伺服的要求，建立了固定眼结构的MOTOMAN-SV3XL型工业机器人无标定视觉伺服系统.研究了目前在机器人视觉伺服研究领域中使用最为广泛的一类方法，即基于图像雅可比矩阵的方法.针对图像雅可比矩阵的特点，设计了一种基于简化Sage-Husa自适应滤波的图像雅可比矩阵在线估计算法，并将其应用于机器人视觉反馈控制任务中，实现了对二维平面上运动目标的跟踪，实验结果表明了该算法的有效性.
- Abstract:
- MOTOMANSV3XL 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 Jacobianbased measure, which has been used most extensively in current robot visual servoing field, was studied. And based on the succinct SaguHusa adaptive filter theory,an online 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.
- 参考文献/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 sensorbased 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.
- 相似文献/References:
-
[1]刘清友.未来智能钻井系统[J].智能系统学报,2009,4(1):16.
LIU Qing-you.Future intelligent drilling technology[J].CAAI Transactions on Intelligent Systems,2009,4():16.
[2]张?? 波,刘冀伟,崔朝辉,等.双目视觉模型移动目标跟踪系统[J].智能系统学报,2010,5(5):400.[doi:10.3969/j.issn.1673-4785.2010.05.004]
ZHANG Bo,LIU Ji-wei,CUI Zhao-hui,et al.Design and implementation of a binocular vision moving target tracking system[J].CAAI Transactions on Intelligent Systems,2010,5():400.[doi:10.3969/j.issn.1673-4785.2010.05.004]
[3]黄心汉.A3I:21世纪科技之光[J].智能系统学报,2016,11(6):835.[doi:10.11992/tis.201605022]
HUANG Xinhan.A3I: the star of science and technology for the 21st century[J].CAAI Transactions on Intelligent Systems,2016,11():835.[doi:10.11992/tis.201605022]
备注/Memo
收稿日期：2006-02-28.
基金项目：教育科学技术研究重大项目(204181)；陕西省自然科学基金资助项目(2003F31).
作者简介：
刘??? 丁，男，1957年生,教授, 博士生导师,西安理工大学控制理论与控制工程学科带头人. 中国人工智能学会常务理事，在国内外学术期刊及国际学术会议上发表学术论文100余篇，其中被SCI、EI等检索收录30余篇.
郭蓝彬，男，1980年生，硕士研究生, 研究方向为机器人视觉伺服控制.
杨延西，男,1975年生,博士, 副教授,硕士生导师,研究方向为机器人轨迹规划和视觉伺服控制.在国内外学术期刊及国际学术会议上发表学术论文20余篇，其中被EI等检索收录10余篇.
更新日期/Last Update:
2009-04-07