机器人视觉伺服研究进展:视觉系统与控制策略

视觉伺服控制是机器人系统的重要控制手段. 随着机器人应用需求的日益复杂多样,视觉伺服的研究面临着挑战. 视觉伺服系统的设计主要包括视觉系统、控制策略和实现策略三个方面. 文中对视觉伺服中存在的主要问题进行了分析,重点介绍了视觉系统中改善动态性能和处理噪声的主要技术手段,阐述了处理模型不确定性和约束的控制策略的改进方案,总结了提高视觉伺服系统的可实现性和灵活性的实现策略. 最后,基于当前的研究进展对未来的研究方向进行了展望.

Survey on Robot Visual Servo Control: Vision System and Control Strategies

Visual servo control is an important control strategy for robotic systems. With the increasing complication and diversification of robotic applications, the study of visual servo control faces challenges. The design of visual servo systems mainly involves vision systems, control strategies and implementation strategies. In this paper, existing problems in visual servo control are analysed. Approaches in vision systems to improve dynamic performance and to deal with noise are introduced, improvements in control strategies to deal with model uncertainties and constraints are summarized, and implementation strategies to improve the realizability and flexibility of visual servo systems are concluded. Finally, future work is outlined based on the current research progress.