摘要
在实际的视觉伺服系统中,由于摄像机到图像处理设备的传输延迟和图像处理本身占用的时间,视觉信息的获取会产生时延.对此,给出了一个带有时延补偿的视觉跟踪控制方法.通过实时拟合图像雅可比矩阵,实现了对机械手末端执行器图像特征信息的实时预测,从而减小了估计误差.在此基础上,设计了一个带有时延补偿的控制方案.通过对运动目标进行跟踪的仿真实验,验证了本文时延补偿方法的有效性.
In actual visual servoing systems, image processing itself and image information transmission from a camera to an image processing device can cause time delay in the acquirement of visual information. This paper proposes a visual tracking control method with time-delay compensation. Real-time prediction of image feature information of an end-effector is achieved by on-line polynomial fitting of each element of the image Jacobian matrix, which reduces estimation error on image features. Also, a control scheme with time-delay compensation is designed. Simulation experiments of tracking a moving object verify effectiveness of the proposed method.
出处
《计算机系统应用》
2015年第9期212-218,共7页
Computer Systems & Applications
关键词
视觉伺服
时延补偿
图像雅可比矩阵
多项式拟合
visual servoing
time-delay compensation
image Jacobian matrix
polynomial fitting
