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Calibration-free and model-independent method for high-DOF image-based visual servoing 被引量:3
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作者 Jie ZHANG Ding LIU 《控制理论与应用(英文版)》 EI CSCD 2013年第1期132-140,共9页
This paper presents a novel method to improve the performance of high-DOF image base visual servoing (IBVS) with an uncalibrated camera. Firstly, analysis and comparison between point-based and moment-based features... This paper presents a novel method to improve the performance of high-DOF image base visual servoing (IBVS) with an uncalibrated camera. Firstly, analysis and comparison between point-based and moment-based features are carried out with respect to a 4-DOF positioning task. Then, an extended interaction matrix (IM) related to the digital image, and a Kalman filter (KF)-based estimation algorithm of the extended IM without calibration and IM model are proposed. Finally, the KF-based algorithm is extended to realize an approximation to decoupled control scheme. Experimental results conducted on an industrial robot show that our proposed methods can provide accurate estimation of IM, and achieve similar performance compared with traditional calibration-based method. Therefore, the proposed methods can be applied to any robot control system in variational environments, and can realize instant operation to planar object with complex and unknown shape at large displacement. 展开更多
关键词 image-based visual servoing Interaction matrix Image moment Kalman filter Decoupled control scheme
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Visual servoing-based pneumatic hair transplantation mechanism for robotic FUE surgery 被引量:1
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作者 Fulin Jia Shenghao Yang +4 位作者 Chenxi Han Junye Li Xuanru Han Chao Zhang Jiaole Wang 《Biomimetic Intelligence & Robotics》 EI 2023年第4期47-55,共9页
Hair transplantation surgery is an effective solution for hair loss problems,among which follicle unit extraction(FUE)surgery is more widely used and favored.At present,most hair transplantation surgeries still rely h... Hair transplantation surgery is an effective solution for hair loss problems,among which follicle unit extraction(FUE)surgery is more widely used and favored.At present,most hair transplantation surgeries still rely heavily on manual operation by doctors and very few hair transplantation robots with complex structures have been introduced.This paper proposes a pneumatic hair transplantation mechanism for FUE surgery,equipped with a camera,capable of automatically performing both hair implantation and extraction with airflow.This pneumatic method eliminates the complex needle structure,has the function of temporarily storing the follicles inside the needle,thus facilitating the automation of transferring follicles from extraction to implantation.Then a visual feedback system is proposed to accurately position the follicles during the transplantation.The experimental results show that average distance deviation between the actual and target positions is 0.6128 mm and the average deviation of hair implantation depth is 1.7176 mm,which verify the feasibility of the proposed system. 展开更多
关键词 Robotic hair transplantation Follicle unit extraction(FUE) image-based visual servoing(ibvs)
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基于图像伺服的接触网绝缘子自动水冲洗车 被引量:1
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作者 王奇 王国志 +2 位作者 党帅涛 秦剑 吴文海 《计算机测量与控制》 2018年第8期257-261,共5页
目前铁路绝缘子维护领域内还没有自动水冲洗设备,提出了捕获跟踪与瞄准系统对绝缘子进行自动冲洗维护;在绝缘子识别的基础上,进一步设计出基于图像的视觉伺服系统(IBVS,image-based visual servoing)控制方法,调整冲洗水炮炮管及摄像机... 目前铁路绝缘子维护领域内还没有自动水冲洗设备,提出了捕获跟踪与瞄准系统对绝缘子进行自动冲洗维护;在绝缘子识别的基础上,进一步设计出基于图像的视觉伺服系统(IBVS,image-based visual servoing)控制方法,调整冲洗水炮炮管及摄像机姿态对绝缘子进行瞄准,来完成绝缘子冲洗工作;该方法主要思路为写出特征函数的差并使其最小,特征函数是通过两个雅可比矩阵及其伪逆矩阵建立起图像与冲洗装置控制量之间的关系,最后达到控制目的。使用Matlab对IBVS控制方法进行验证,该方法控制双自由度冲洗装置精确性达到要求,可实现绝缘子冲洗瞄准。 展开更多
关键词 水冲洗 绝缘子 瞄准 ibvs 视觉伺服
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采用全景相机的移动机器人视觉伺服 被引量:2
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作者 杨少平 陈雄 孔庆生 《计算机工程与设计》 CSCD 北大核心 2010年第19期4261-4264,共4页
为了解决机器人上装置传统相机而产生的视野域有限的问题,采用了全景相机,并且针对采用近似线性输入输出反馈控制模型中近似与假设过多的情况,提出了一种使用极线几何与三角几何相结合的方法,更简便地实现基于图像的视觉伺服运用于移动... 为了解决机器人上装置传统相机而产生的视野域有限的问题,采用了全景相机,并且针对采用近似线性输入输出反馈控制模型中近似与假设过多的情况,提出了一种使用极线几何与三角几何相结合的方法,更简便地实现基于图像的视觉伺服运用于移动机器人的情况。由于是基于图像的视觉伺服,该方法不需要预先知道三维场景的结构知识。实验仿真结果表明了该方法的有效性。 展开更多
关键词 全景相机 基于图像的视觉伺服 极线几何 三角几何 移动机器人
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Robust image-based coordinated control for spacecraft formation flying 被引量:2
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作者 Dayong HU Xiangtian ZHAO Shijie ZHANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2022年第9期268-281,共14页
This paper addresses a coordinated control problem for Spacecraft Formation Flying(SFF). The distributed followers are required to track and synchronize with the leader spacecraft.By using the feature points in the tw... This paper addresses a coordinated control problem for Spacecraft Formation Flying(SFF). The distributed followers are required to track and synchronize with the leader spacecraft.By using the feature points in the two-dimensional image space, an integrated 6-degree-of-freedom dynamic model is formulated for spacecraft relative motion. Without sophisticated threedimensional reconstruction, image features are directly utilized for the controller design. The proposed image-based controller can drive the follower spacecraft in the desired configuration with respect to the leader when the real-time captured images match their reference counterparts. To improve the precision of the formation configuration, the proposed controller employs a coordinated term to reduce the relative distance errors between followers. The uncertainties in the system dynamics are handled by integrating the adaptive technique into the controller, which increases the robustness of the SFF system. The closed-loop system stability is analyzed using the Lyapunov method and algebraic graph theory. A numerical simulation for a given SFF scenario is performed to evaluate the performance of the controller. 展开更多
关键词 Algebraic graph theory Coordinated control image-based visual servoing Robust control Spacecraft formation flying
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基于任务分解的图像视觉伺服方法 被引量:1
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作者 高成 樊易飞 佟维妍 《计算机仿真》 北大核心 2020年第9期266-271,共6页
传统的基于图像机器人视觉伺服方法,伺服任务包含绕光轴(z轴)旋转运动时,机械手的运动轨迹会出现迂回,旋转角度较大时无法实现伺服任务;有沿光轴平移运动分量时,由于图像雅可比矩阵包含深度信息,大多伺服算法无法实现。提出基于任务分... 传统的基于图像机器人视觉伺服方法,伺服任务包含绕光轴(z轴)旋转运动时,机械手的运动轨迹会出现迂回,旋转角度较大时无法实现伺服任务;有沿光轴平移运动分量时,由于图像雅可比矩阵包含深度信息,大多伺服算法无法实现。提出基于任务分解的视觉伺服切换方案,在四自由度伺服任务中,先将绕z轴旋转和沿z轴平移运动分离开来并分别顺序执行,再完成沿x轴和y轴平移的伺服任务。所提方案解决了传统视觉伺服旋转运动轨迹迂回甚至不能实现的问题,稳态误差小,运动路径合理。运动仿真说明了提出方案的有效性。 展开更多
关键词 机器人 任务分解 基于图像的视觉伺服 摄像机回退
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