Image Jacobian-based intelligent robot visual tracking
Image Jacobian-based intelligent robot visual tracking
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发表时间：
2006
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通讯作者：
Yang Yanxi
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作者：
Yang Yanxi
根据视觉伺服智能化的要求，利用固定眼构建了MOTOMAN-SV 3XL工业机器人视觉伺服控制系统。研究了目前机器人视觉伺服领域中应用最广泛的基于图像雅可比测度的视觉控制方法。基于简洁的Sagu-Husa自适应滤波理论，设计了一种图像雅可比矩阵的在线估计算法，并将其应用于机器人视觉反馈控制任务中，实现了对二维平台上运动目标的跟踪。结果表明了该算法的有效性。
MOTOMAN-SV3XL industrial robot visual servoing control system was constructed with the fixed eye accordingto the requirement of intelligent visual servoing. The image Jacobian-based measure, which has been used most extensively in current robot visual servoing field, was studied. And based on the succinct Sagu-Husa adaptive filter theory,an on-line estimation algorithm for image Jacobian matrix was designed and applied in the tasks of the robot visual feedback control, which performed the tracking of moving objective in the 2D platform. The results show the validity of the algorithm.