Study on algorithm of dynamic uncalibrated eye-in-hand visual servoing system |
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Authors: | ZHAO Jie LI Mu YAN Ji-hong LI Ge CAO Yu |
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Affiliation: | Robot Research Institute, Harbin Institute of Technology, Harbin 150080,China |
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Abstract: | Currently, most visual servoing system must be calibrated, while it is impossible to calibrate cameras and robot models precisely in industrial practice, so a novel dynamic uncalibrated eye-in-hand visual servoing system of tracking a moving target is proposed. The method does not require calibration of camera and robot kinematic models. Vision guided algorithm for tracking dynamic image is developed through minimizing nonlinear objective function. For the large residual has not been approximated in dynamic environment and the change of composite image Jacobian with time increment has not been computed in visual servoing system now,large residuals are dynamic approximated and the change of composite image Jacobian at each iterative step is computed. Simulation results demonstrate the validity of these approaches. |
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Keywords: | uncalibrated visual servoing composite image Jacobian approximation large residual estimation change of Jacobian with time |
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