【摘要】 本文提出了一种基于图像的视觉伺服控制方法，通过图像空间的反馈信息精确控制胶囊的运动。图像视觉伺服控制方法避免了三维建模和与坐标变换的复杂性，可在无需磁传感器的情况下实现实时定位与跟踪。首先，建立了胶囊机器人六自由度的视觉伺服控制模型，并结合运动学模型对磁控胶囊的运动进行了分析；然后，设计了适用于磁控胶囊的姿态控制器，有效抑制了由非约束磁力引起的运动不稳定性和颤振现象。通过实验验证，本文所提出的方法能够在没有高精度传感器辅助的情况下，精准完成目标定位与跟踪任务。实验结果表明，基于图像的视觉伺服控制方法具有较高的控制精度和稳定性，适用于复杂的胃肠道环境。更多还原

【Abstract】 This paper proposes an image-based visual servo control method that precisely controls the movement of a capsule through feedback information from the image space. The image visual servo control method avoids the complexity of 3D models and coordinate transformations, enabling real-time localization and tracking without relying on magnetic sensors. The paper first establishes a visual servo control model for the six degrees of freedom of the capsule robot and analyzes the motion of the magnetically controlled capsule based on the kinematic model.Next, a posture controller suitable for the magnetically controlled capsule is designed, effectively addressing motion instability and vibration issues caused by unconstrained magnetic forces. Experimental validation demonstrates that the proposed method can precisely complete target localization and tracking tasks without high-precision sensor assistance. The experimental results show that the image-based visual servo control method has high control accuracy and stability,making it suitable for complex gastrointestinal environments.更多还原