基于动态目标的机器人无标定视觉伺服系统仿真

Simulation of Image-based Robot Visual Servo System for Dynamic Object

机器人视觉伺服在智能控制领域有着广泛的应用。为了解决摄像机标定影响机器人视觉伺服精度的问题,研究一种无标定的视觉伺服控制系统。采用基于图像的视觉伺服方法,基于机器人仿真工具箱和视觉仿真工具箱,在Matlab/Simulink环境下建立了图像反馈机器人手眼视觉伺服系统Simulink模型。仿真结果表明:所构建的机器人视觉伺服系统对于正弦波动目标的跟踪定位,反映较快、精度较高,能较好地满足工程应用要求。

Robot visual servo is widely applied in intelligent control field. But the camera calibration influences the precision of robot visual servo control. In order to solve this problem, an uncalibrated visual servo control system was studied. The Simulink model of the visual servo was established based on robotics toolbox for Matlab and machine vison toolbox for Matlab under Matlab/Simulink environment. The experimental results show that for tracking dynamic objects, the robot visual servo system has fast response and high accuracy. So it meets the engineering application requirement.