摘要
机器人视觉伺服系统是机器人领域一重要的研究方向 ,它的研究对于开发手眼协调的机器人在工业生产、航空航天等方面的应用有着极其重要的意义 .本文着眼于视觉伺服机器人操作运动目标这一问题 ,分析了建立此类系统的控制结构并指明其特点 ;同时 ,详细地阐述了三个组成环节 :视觉图像处理、预测及滤波、视觉控制器的研究方法和现状 .最后 。
A robotic visual servoing system is one of the most important subjects in the field of robots. Its research is significant for developing visual robots applied to industrial applications, aerospace, etc. Aiming at the research on visual servoing robot to manipulate moving objects, this paper firstly, describes several typical control structures and point out their advantages and drawbacks. Then, three important composing parts including image process, motion prediction and control schemes are analyzed, and their state and achievements are discussed. Finally, the developing trend is presented.
出处
《机器人》
EI
CSCD
北大核心
2003年第6期548-553,共6页
Robot
基金
江苏省自然科学基金项目资助 (BK2 0 0 2 4 0 5)
