运用图像轨迹规划的无标定机器人视觉伺服控制

黄正军; 王桂锋; 施卢丹

doi:10.13433/j.cnki.1003-8728.20200216

运用图像轨迹规划的无标定机器人视觉伺服控制

doi: 10.13433/j.cnki.1003-8728.20200216

金华职业技术学院，浙江金华　321017

基金项目: 浙江省基础公益研究计划（LGG19E050010）

详细信息

作者简介:
黄正军（1973−），讲师，研究方向为系统仿真技术、机电一体化技术，465074730@qq.com

中图分类号: TP242.6
计量
- 文章访问数: 154
- HTML全文浏览量: 281
- PDF下载量: 31
- 被引次数: 0
出版历程
- 收稿日期: 2019-12-05
- 刊出日期: 2022-05-11

Uncalibrated Robot Visual Servoing Control based on Image Trajectory Planning

Jinhua Polytechnic, Jinhua 321017, Zhejiang, China

摘要

摘要: 针对无标定手眼机器人视觉伺服控制问题，提出了基于图像轨迹规划与时序控制相结合的视觉伺服方法。给出了图像平面和任务空间的轨迹规划方法，设计了卡尔曼滤波器估算目标与相机相对位姿，结合相机测量实现了雅可比矩阵的自适应估算。在此基础上设计了基于图像视觉反馈的视觉伺服控制器，实现了机器人的目标视觉跟踪。通过MATLAB仿真和实验研究对该算法进行了验证，并与经典PBVS（Position-based visual servoing）、IBVS （Image-based visual servoing）方法进行了比较试验，仿真及实验结果验证了该算法的有效性。
- 手眼机器人 /
- 视觉伺服 /
- 雅可比矩阵 /
- 轨迹规划 /
- 卡尔曼滤波器
Abstract: A visual servo method based on image trajectory planning and sequential control was proposed for uncalibrated eye-in-hand robot system. First, the trajectory planning method in image space and task space was presented. Second, the Kalman filter was adopted to estimate the relative pose of the target to camera, and combined with camera measurement, the adaptive estimation of Jacobian matrix was realized. A visual servo controller with image feedback was designed to realize the visual tracking of target. At the end of this paper, this method and relative algorithm were verified by MATLAB simulations and experimental researches, and compared with classical PBVS (position-based visual servoing) and IBVS (image-based visual servoing) methods. The results verify the effectiveness of the method.
- eye-in-hand robot /
- visual servo /
- Jacobian matrix /
- trajectory planning /
- Kalman filter

HTML全文

图 1 视觉伺服控制结构框图

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图 2 手眼机器人视觉伺服系统

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图 3 图像特征仿真跟踪轨迹

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图 4 机器人关节角度变化

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图 5 PBVS图像特征跟踪轨迹，t=44 s

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图 6 IBVS图像特征跟踪轨迹，t=40 s

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图 7 本文算法图像特征跟踪轨迹，t=35 s

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