摘要
根据智能机器人视觉伺服的要求,建立了固定眼结构的MOTOMANSV3XL型工业机器人无标定视觉伺服系统.研究了目前在机器人视觉伺服研究领域中使用最为广泛的一类方法,即基于图像雅可比矩阵的方法.针对图像雅可比矩阵的特点,设计了一种基于简化SageHusa自适应滤波的图像雅可比矩阵在线估计算法,并将其应用于机器人视觉反馈控制任务中,实现了对二维平面上运动目标的跟踪,实验结果表明了该算法的有效性.
MOTOMAN-SV3XL industrial robot visual servoing control system was constructed with the fixed eye accordingto the requirement of intelligent visual servoing. The image Jacobian-based measure, which has been used most extensively in current robot visual servoing field, was studied. And based on the succinct Sagu-Husa designed and applie moving objective in adaptive filter theory, an on-line estimation algorithm for image Jacobian matrix was d in the tasks of the robot visual feedback control, which performed the tracking of the 2D platform. The results show the validity of the algorithm.
出处
《智能系统学报》
2006年第1期57-61,共5页
CAAI Transactions on Intelligent Systems
基金
教育科学技术研究重大项目(204181)
陕西省自然科学基金资助项目(2003F31).
