Uncalibrated Image‐Based Visual Servoing of Rigid‐Link Electrically Driven Robotic Manipulators
Uncalibrated Image‐Based Visual Servoing of Rigid‐Link Electrically Driven Robotic Manipulators
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DOI：
10.1002/asjc.796
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发表时间：
2014-05
影响因子：
2.4
通讯作者：
Xinwu Liang;Hesheng Wang;Weidong Chen;Yunhui Liu
中科院分区：
文献类型：
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作者：
Xinwu Liang;Hesheng Wang;Weidong Chen;Yunhui Liu
在本文中，机器人操纵器的未校准固定相机视觉伺服问题将通过考虑其完整的电机动力学来解决。提出了一种新的自适应图像空间视觉伺服策略，无需关节和视觉加速度测量，可以处理相机内在和外在参数、机器人运动学和动态参数以及电机动态参数的不确定性。该方案基于与深度无关的交互矩阵，以处理图像雅可比矩阵对未知参数的非线性依赖性，从而允许闭环动力学中的相机和机器人运动学参数被线性参数化。通过这种方式，可以非常有效地开发用于在线估计未知相机、运动学、刚性动态和电机动态参数的自适应法则。此外，还将提出一种联合速度观测器来解决没有联合和视觉加速度测量的问题。为了显示图像误差的渐近收敛性，将使用李雅普诺夫理论进行基于刚性连杆机器人动力学和全电机动力学的稳定性分析。将给出仿真结果来验证所提出方案的性能。
In this paper, the uncalibrated fixed‐camera visual servoing problem of robot manipulators will be addressed by considering its full motor dynamics. A new adaptive image‐space visual servoing strategy without both the joint and visual acceleration measurements is presented, which can handle uncertainties in the camera intrinsic and extrinsic parameters, the robot kinematic and dynamic parameters, and the motor dynamic parameters. The proposed scheme is developed based on the depth‐independent interaction matrix in order to deal with the nonlinear dependence of image Jacobian matrix on the unknown parameters, which allows the camera and robot kinematic parameters in the closed‐loop dynamics to be linearly parameterized. In this way, adaptive laws for the online estimation of the unknown camera, kinematic, rigid dynamic, and motor dynamic parameters can be developed very efficiently. Furthermore, a joint velocity observer will also be presented to solve the problem without both the joint and visual acceleration measurements. To show asymptotic convergence of image errors, stability analysis based on both the rigid‐link robot dynamics and full motor dynamics will be performed by using Lyapunov theory. Simulation results will be given to validate the performance of the proposed scheme.