一种无标定视觉伺服系统的快速跟踪策略

为了提高机械臂跟踪动态目标的跟踪效率，本文提出了一种无标定视觉伺服系统的快速跟踪策略.一方面，该策略通过预测机械臂关节角的方法，使得控制器计算行为与机械臂运动行为同时进行；另一方面，该策略使用最新的图像信息计算关节角，提高了系统的实时性.在仿真实验和实物实验中，构建了应用不同跟踪策略的两个无标定视觉伺服系统以跟踪动态目标.最后，通过对比两系统的跟踪时间和跟踪路径，验证了新跟踪策略的快速性、实时性和抗干扰性.

A Fast Tracking Strategy for Uncalibrated Visual Servo System

In order to improve the tracking efficiency of manipulator tracking dynamic target， this paper proposed a fast tracking strategy of uncalibrated visual servo systems. On the one hand， by predicting the joint angle of the manipulator motion， the controller’s calculating behavior can be carried out in parallel with the manipulator’s moving behavior. On the other hand， the strategy uses the latest image information to calculate the joint angle， which improves the real-time performance of the system. In the simulation and physical experiments， two uncalibrated visual servo systems with different tracking strategy algorithms are constructed to track dynamic target. Finally， the fast， real-time and anti-jamming performance of the strategy are verified by comparing tracking time and tracking path.