摘要
从控制的角度出发,提出了一种模型无关的无定标视觉伺服控制方法。在该方法中不需要机器人及摄像机模型,图像雅克比矩阵的计算采用最小二乘估计,机器人系统采用变结构的控制理论设计控制器;而后用李亚普诺夫方法对其进行了稳定性分析,结果证明系统能够渐近稳定。仿真实验证明了算法的有效性。
Considering the specific problems of visual servoing, this paper proposed a model independent uncalibration visual servo control method. This method didn＇ t need robot kinematics and camera model, the image Jacobian was estimated using the recursive least squares algorithm,the robot system was controlled by variable structure control theory to the design of the controller. The system was proved to be asymptotic stable by using Lyapunov direct method. The simulation experiment results show the correctness of the proposed algorithm.
出处
《计算机应用研究》
CSCD
北大核心
2007年第6期248-250,共3页
Application Research of Computers
基金
国家自然科学基金资助项目(60274023)
