机器人视觉伺服系统控制结构的研究

Research on the control structure of a robot visual servo system

对机器人视觉伺服系统的研究是机器人领域中的重要内容之一 ,其研究成果可直接用于机器人手—眼系统、移动机器人的自动避障及对周围环境的自适应、轨线跟踪等问题。该文介绍了三种主要的机器人视觉伺服系统 :基于位置的控制系统、基于图像的控制系统、2 1/ 2D视觉伺服 ,并详细论述了它们的控制结构及由此产生的优缺点 。

A robotic visual servosystem is one of the most important subject in the field of robots.Its research findings can be directly applied to both robotic eye in hand and mobile robot's automatic obstacle avoiding systems and also used to solve such problems as automatic adaptation,trajectory tracking,etc.This paper describes the control structure of three main visual servosystems and their advantages and drawbacks along with the developing tendency.