共查询到19条相似文献,搜索用时 62 毫秒
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介绍了机器人视觉伺服的一般原理,按李雅普诺夫稳定性方法推导出了模型无关的无标定视觉伺服控制律,给出了图像雅可比矩阵的递推公式,并将算法加以改进使系统满足大范围渐近稳定.最后通过轨迹跟踪的仿真试验验证了摄像机固定和eye-in-hand两种结构下算法的正确性和有效性. 相似文献
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型材搬运机器人视觉伺服控制研究 总被引:1,自引:0,他引:1
文章通过分析型材搬运机器人视觉伺服控制的技术要求和特点,提出一种基于型材型心线坐标附加值模型的识别算法,并以此作为型材图像边缘检测与识别理论的算法,分析了机器手的定位方法;以数字图像处理理论和算法为基础,以VisualC 6.0为平台,实现型材搬运机器人视觉伺服控制图像处理与机器手定位坐标值的确定,提供了一种型材搬运机器人视觉伺服控制的方法。 相似文献
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采用可调节点径向基函数神经网络实现视觉伺服机器人摄像机标定.首先将基于leave-one-out准则的orthogonal forward selection算法扩展到多入多出的RBF网络,建立摄像机标定的RBF网络模型.通过应用卡内基-梅隆大学标定图像实验室提供的标定数据进行仿真试验,验证此方法的有效性.由于OFS-LOO算法可构造出具有稀疏隐层节点的RBF网络,使网络具有较好的泛化推广能力,同时RBF网络为局部逼近网络,因此,此标定方法具有较高的标定精度和较强的标定实时性,适用于视觉伺服的摄像机标定. 相似文献
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The paper addresses the finite-time convergence problem of a uncalibrated camera-robot system with uncertainties. These uncertainties include camera extrinsic and intrinsic parameters, robot dynamics and feature depth parameters, which are all considered as time-varying uncertainties. In order to achieve a better dynamic stability performance of the camera-robot system, a novel FTS adaptive controller is presented to cope with rapid convergence problem. Meanwhile, FTS adaptive laws are proposed to handle these uncertainties which exist both in robot and in camera model. The finite-time stability analysis is discussed in accordance with homogeneous theory and Lyapunov function formalism. The control method we proposed extends the asymptotic stability results of visual servoing control to a finite-time stability. Simulation has been conducted to demonstrate the performance of the trajectory tracking errors convergence under control of the proposed method. 相似文献
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In order to achieve high performance visual servoing, substantial efforts must be made for the calibration of intrinsic parameters of the camera and the transformation matrix as well. In order to avoid the tedious and difficult calibration work, a Kalman filtering-based estimation algorithm is proposed to estimate the composite image Jacobian or the homogeneous transformation matrix on-line, which can reduce the influence of noise. Using the estimated Jacobian matrix, a PD visual controller is used to make features converge to desired values with satisfactory dynamic performance, without a priori knowledge of the kinematic structure and system parameters. The proportional and differential gains are tuned using a genetic algorithm to obtain optimal controller parameters. A series of experiments are performed on peg and hole assembly to investigate the feasibility and effectiveness of this method. 相似文献
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研究一种构造分布式机器人视觉伺服系统的方法。在分布式机器人视觉伺服系统的基础上,运用NI公司(美国国家仪器公司)的LabVIEW,将四自由度机器人系统和实时图像采集系统连接起来,构成了基于LabVIEW的分布式机器人视觉伺服系统。推导了视觉伺服机器人系统的图像雅克比矩阵,用LabVIEW语言编写了基于逆模型的控制算法,给出了实验结果。 相似文献
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《Measurement》2014
In the inertial motion capture system, the model complexity and the large amount of computation make the completion of the orientation estimation algorithm rely solely on PC. Because the data processing speed is slow, it is difficult to realize high-speed motion tracking in the embedded system. In order to further expand the application of the motion tracking technology, this paper introduces a two-step Kalman filter, which is suitable for the embedded system. The filter is composed of two sub filters, and is adaptively adjusted based on the variance matching of fuzzy logic. IMU orientation is calculated based on the filtered acceleration vector and the estimated yaw. This approach simplifies the mathematical model, reduces the matrix operations and improves the speed of computation. 相似文献
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In this paper, to improve the positioning accuracy of LED chip, a dual rate adaptive fading Kalman filter algorithm with delay compensation is proposed and applied to the LED chip visual servo positioning system. Firstly, a structure of dual rate Kalman filter is introduced to the visual servo control system, which compensate the visual information delay and realize the accurate time sequential coordination of encoder and visual feedback. Then, considering the inaccuracy of system mathematical model, the adaptive forgetting factor is added to the iterative process of above algorithm, and the impact of accumulated model error on system stability is consequently mitigated. Finally, the experimental results show that the proposed method obviously decreases the positioning errors of LED chip and is robust to inaccuracy and uncertainty of system model parameters. 相似文献
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本文提出了一种基于模糊控制的对含不确定性的移动机器人的非标定视觉伺服路径规划控制方法。本方案将摄像机固定于移动机器人工作区域内,运用摄像机针孔模型设计了一种新的非标定机器人视觉伺服路径跟踪系统,在此系统下运用模糊控制理论设计了模糊控制器,在视觉伺服系统参数未标定的前提下完成了对含不确定性参数的移动机器人视觉伺服路径规划。仿真实验证实控制效果良好。 相似文献