论文部分内容阅读
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。
For the image-based vision servo with hand-eye or fixed camera mode, considering the kinematics and dynamics of the robot, a direct adaptive control scheme is proposed to realize position control or trajectory tracking when the camera’s internal and external parameters are unknown. Using the matrix transformation method, the components of the image Jacobian matrix appear linearly in the closed-loop dynamics equations, thus a new adaptive estimation method is proposed to estimate the image Jacobian matrix on-line. The Lyapunov method is used to prove that the image Asymptotic Convergence of Errors. Simulation results verify the effectiveness of this method.