基于单应性矩阵分解的视觉控制器设计及仿真

Design and simulation of visual controller based on homography matrix decomposition

为避免传统的基于图像雅克比矩阵视觉伺服控制方法中深度信息的求取,克服机械手末端仅限于做微小运动的约束,设计了基于单应性矩阵分解的视觉控制器.根据对摄像机在不同时刻对同一平面所成图像间的单应性矩阵的分解,并通过中间图像插值筛选方法,确定其视觉控制器参数.最后,以Puma560机器人为例在Matlab/Simulink环境下进行系统仿真,其结果验证了该方法的有效性.

In order to avoid solving the depth information in the traditional visual servo control method based on image-jacobian matrix, and overcome the constraint involved only small motions of robot end-ef- fector, a visual controller based on homography matrix decomposition was designed in this paper. Accord- ing to the decomposition of homography matrix between the two retinas when a camera forms the image of a plane at different time, and the screening method of intermediate image interpolation, the visual control- ler parameters were determined. Finally, the system simulation for Puma560 was implemented in the Mat- lab/Simulink, and the experimental results verified the validity of the method.