【摘要】 讨论了机械手运动目标跟踪问题，直接利用图像误差达到注视目的．利用手部摄像机于期望位置获取待跟踪物体图像，以此作为期望图像，而后可以对同类运动物体进行注视跟踪，使实时采样图像收敛于期望图像．该控制方案与通常基于图像特征的控制方法不同，其为直接图像反馈方法，控制律由图像差反馈和物体运动自适应补偿组成，可以完成“眼注视”这种具有局部收敛要求的运动目标跟踪，具有良好的准确性与鲁棒性更多还原

【Abstract】 This paper presents a direct image adaptive control scheme for visual tracking of moving target. It is different from feature based visual servo. The manipulating process is as follows: first of all, move the arm to the desired manipulating position and orientation with respect to the object of interest then sample the image of the object by eye in hand camera. In the manipulating process, the scheme, which compares the real time sampled image with the desired one, forms the image error. Then the control action composed of image error feedback and adaptive motion compensation steers the gripper to track the moving target in order that the image error is eliminated. If the manipulating process does not satisfy very well the initial error condition, the control law can be used for to track the moving target with accurate and robust properties.更多还原