| 视觉伺服机器人系统的无标定目标运动估计 |
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| 引用本文： | 田梦倩,罗翔,黄惟一.视觉伺服机器人系统的无标定目标运动估计[J].工业仪表与自动化装置,2004,3(1):29-32,9. |
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| 作者姓名： | 田梦倩 罗翔 黄惟一 |
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| 作者单位： | 东南大学,江苏,南京,210096;东南大学,江苏,南京,210096;东南大学,江苏,南京,210096 |
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| 基金项目： | 江苏省自然科学基金项目(BK2002405)。 |
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| 摘 要： | 机器人视觉伺服系统是机器人领域一重要的研究方向。该文建立了三自由度平面机器人视觉伺服系统，着重研究在摄像机与机器人坐标系无标定的情况下对目标的运动估计，提出了一种无标定算法，采用Kalman滤波完成目标的运动估计，并验证了它的有效性。
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| 关 键 词： | 机器人 视觉伺服 运动估计 Kalman滤波器 |
| 文章编号： | 1000-0682(2004)01-0029-04 |
A visual servo robot system based on uncalibrated object motion estimation |
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| TIAN Meng-qian,LUO Xiang,HUANG Wei-yi.A visual servo robot system based on uncalibrated object motion estimation[J].Industrial Instrumentation & Automation,2004,3(1):29-32,9. |
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| Authors: | TIAN Meng-qian LUO Xiang HUANG Wei-yi |
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| Abstract: | A visual servo-robot system is one of the most important subjects in the field of robots.This paper deals with a 3-DOF planar robot system and the uncalibrated algorithm about object motion estimation.This algorithm has two steps.The first step is a novel method to gain object's position without calibration.Its results are used as Kalman filter's input information.The second step is an object's motion estimation accomlished by the Kalman filter.Moreover,according to different motion,several kinds of model are studied.Simulations have proved the validity of the models. |
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| Keywords: | Robot Visual servoing Motion estimation Kalman filter |
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