【作者】 于乃功； 华瑾； 秦永钢； 阮晓钢；

【Author】 YU Nai-gong,HUA Jin,QIN Yong-gang,RUAN Xiao-gang (Academy of Electronic Information and Control Engineering,Beijing University of Technology, Beijing 100124,China.)

【机构】 北京工业大学电子信息与控制工程；

【摘要】 本文设计了一种Eye-to-hand手眼系统,针对设计的手眼系统提出了一种可自动实时跟踪运动目标的控制策略。该策略首先采用某一颜色对目标进行标记,利用双目立体视觉系统对色标进行测量,然后在视觉系统中对目标进行三维重建,得到目标在视觉坐标系下的三维坐标,当目标位姿变化时,根据此三维坐标的变化量直接控制机械臂各关节的运动,从而实现对运动目标的跟踪。仿真实验表明该跟踪策略能够提高手眼系统伺服控制的实时性,从而使手眼系统达到直接视觉伺服的目的。更多还原

【Abstract】 This paper presents a kind of Eye-to-han system,complete design methodology for 3-D space position based visual servo control for manipulators with double camera mounted at work-spaces looking to the robotic manipulators.The controllers in this paper are assumed that the robot kinematics are perfectly known and manipulator Jacobian must be inverted online.In this paper,the environment is a rigid object of known geometry but of unknown and possibly time-varying position and orientation.This paper in introduce the Design of an algorithm for online estimation of the object using its colour. Based on visual data provided by stereo visual as well as on moments trajectory. Simulation results show that the tracking trajectory strategies could improve the real-time of servoing control,so as to achieve the purpose of direct visual servoing.更多还原