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微装配机器人无标定视觉伺服 被引量：5

Un-calibrated vision servoing for micro-assembly robots based on image Jacobian model recognition
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摘要 为获得高效的微装配机器人系统性能,避免复杂的摄像机标定,提出了一种基于图像雅可比模型辨识的微装配机器人无标定视觉伺服结构和控制算法;设计了视觉伺服控制律;成功进行了微操作手二维平面定点、直线轨迹跟踪、圆周轨迹跟踪和三维涂胶运动实验,实验结果表明:提出的系统结构和控制算法具有良好的实际效果. 为获得高效的微装配机器人系统性能,避免复杂的摄像机标定,提出了一种基于图像雅可比模型辨识的微装配机器人无标定视觉伺服结构和控制算法;设计了视觉伺服控制律;成功进行了微操作手二维平面定点、直线轨迹跟踪、圆周轨迹跟踪和三维涂胶运动实验,实验结果表明:提出的系统结构和控制算法具有良好的实际效果.
作者 王敏 黄心汉 吕遐东
机构地区 华中科技大学控制科学与工程系
出处 《华中科技大学学报（自然科学版）》 EI CAS CSCD 北大核心 2011年第S2期60-63,80,共5页 Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金 国家自然科学基金资助项目(60873032) 国家高技术研究发展计划资助项目(2008AA8041320)
关键词 机器人 雅可比矩阵 自适应辨识 系统标定 视觉伺服 控制算法 robot Jacobian matrix self-adaptive recognition system calibration vision serving control algorithms
分类号 N55 [自然科学总论]
  • 相关文献

参考文献12

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二级参考文献9

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共引文献5

同被引文献34

  • 1卢惠民,张辉,郑志强.基于视觉的移动机器人自定位问题[J].中南大学学报（自然科学版）,2009,40(S1):127-134. 被引量：8
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引证文献5

二级引证文献27

华中科技大学学报（自然科学版）
2011年 第S2期

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