| 基于牛顿迭代法的显微视觉控制方法研究 |
| |
| 引用本文： | 姚胜强,许群,席文明. 基于牛顿迭代法的显微视觉控制方法研究[J]. 装备制造技术, 2009, 0(11) |
| |
| 作者姓名： | 姚胜强 许群 席文明 |
| |
| 作者单位： | 厦门大学机电系,福建,厦门,361005 |
| |
| 基金项目： | 国家自然基金，福建省自然基金 |
| |
| 摘 要： | 在建立显微立体视觉模型的基础上,提出一种仿牛顿迭代法的视觉控制方法,通过遮代逼近的方法控制机械手运动到指定住置,同时还对迭代逼近的收敛条件及近似线性显微视觉系统的迭代误差上限进行分析推导.实验证明,本方法避免了系统的精确标定和高频率采样,具有精确度高、收敛速度快、鲁棒性好等特点,平均迭代3.5次就可以以一个像素的精度逼近目标位置.
|
| 关 键 词： | 摄像机标定 牛顿迭代法 视觉伺服 显微操作 |
Micro Visual Control Method based on Newton Lterative Method |
| |
| YAO Sheng-qiang,XU Qun,XI Wen-ming. Micro Visual Control Method based on Newton Lterative Method[J]. , 2009, 0(11) |
| |
| Authors: | YAO Sheng-qiang XU Qun XI Wen-ming |
| |
| Affiliation: | YAO Sheng-qiang,XU Qun,XI Wen-ming(Department of Mechanical Engineering,Xiamen University,Xiamen Fujian 361005,China) |
| |
| Abstract: | Because of the requirement of high precision,narrow workplace and small objects,the traditional control methods would not be directly used for micromanipulation.In this literature,based on the foundation of stereo vision of the microscopes,a visual iterative control method is proposed which simulates the Newton Iterative Method.By the iterations,we can control the mircomanipulator to ap-proach the objective positions.We also prove the conditions of the convergence of the iteration,and get the limit of the f... |
| |
| Keywords: | camera calibration newton Iterative method visual serve micromanipulation |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
