具有一种新的图像雅可比矩阵估计方法的无定标视觉伺服

对于基于图像的具有手眼或固定摄像机模式的视觉伺服,考虑机器人的运动学及动力学特性,在摄像机的内外参数未知的情况下,提出了一种直接自适应控制方案实现位置控制或轨迹跟踪;利用矩阵变换的方法使得图像雅可比矩阵的组成元素线性地出现在闭环动力学方程中,从而设计了一种新的自适应估计方法在线估计图像雅可比矩阵;利用李亚普诺夫的方法证明了图像误差的渐近收敛性。仿真结果验证了该方法的有效性。

Uncalibrated Visual Servoing of Robots with New Image Jacobian Estimation Method

A new adaptive controller was proposed to deal with the position control or trajectory tracking for image-based dynamic control of a robot manipulator, which was applicable to the fixed camera configuration or the eye-in-hand set up whose intrinsic and extrinsic parameters were not known. Using matrix transform made the unknown elements of the image Jacobian matrix appear linearly in the closed-loop dynamics so that a new algorithm was developed to estimate their values on-line. Based on the nonlinear robot dynamics, the asymptotic convergence of the image errors to zero was proved by the Lyapunov theory. A simulation demonstrates the effectiveness of the proposed scheme.