一种手眼机器人视觉伺服控制方法的设计

A Design for Visual Servoing Control of Eye-in-hand Configuration

针对手眼机器人视觉伺服系统中的末端摄像机速度确定问题,文章采用一般模型法,通过求解最优化控制问题来设计控制器,即摄像机的速度,基于图像误差实现了定位控制,该方法能够使机器人在工作空间内从任一初始位置运动到期望位置,确保了系统全局渐近稳定且不需要物体的几何模型。最后给出的仿真实例表明了本方法的有效性。

How to design the velocity of camera has not been resolved properly for visual servoing with eye-in-hand configuration.In this paper,GMC(generic model control)is introduced to confirm the output trajectory of the system and then an optimization control problem is solved to design the controller which is the camera velocity.Under the driving of the controller,the camera can reach any desired location from any initial position in the robot workspace while the system is globally asymptotically stable.The method does not need any knowledge of geometrical three-dimensional model of the object.A simulation is carried out to show its validity.