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The Research on Robot Visual Servoing Control

Author: ZhuXuDong
Tutor: LiHuiGuang
School: Yanshan University
Course: Control Theory and Control Engineering
Keywords: Location-based Image-based 2.5 -dimensional visual servo Active contour Image Moments
CLC: TP242
Type: Master's thesis
Year: 2005
Downloads: 435
Quote: 2
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Thesis research for robot visual servo control , detailing the four commonly used servo control method that is based on the position servo control , image-based servo control , 2.5 dimension servo control and active contour - based servo control . The location-based control method is to design the controller to the current camera position and posture and the desired position and orientation error between the robot task space , the main advantage is the direct control of the camera in the three-dimensional space trajectory . Description of the method defined azimuth error RPY angle , construct new Jacobian matrix , designed to accelerate the movement PID visual servo controller , camera tracking or positioning objectives to accelerate movement . Based on the error signal in the control mode of the image is defined directly in the image space , can guarantee that the goal has been in the camera 's field of vision . Two image - based control design , one based on the the Delta operator 's visual servo robot optimal control to design the optimal control law in the domain of Delta almost not. Another is based the image moments adaptive visual servo robot control , the use of image moments to construct the image Jacobian matrix , to overcome the weaknesses texture , lighting , noise conditions caused by poor matching accuracy . Adaptive method of kinetic equations linear compensation . Comprehensive, location-based and image - based servo proposed a 2.5D visual servo methods . The error signal is only defined in the image space and defined reign posture space , which do not need to know the three-dimensional geometric model of the target , as compared with the location-based visual servo . Compared with image - based visual servo , it can ensure that the control law convergence in the space of the entire task . In addition, this controller has a good camera calibration error robustness . The article also describes a fourth servo method , which is based on the active contour servo . In this method , the robot can track the planar object in the space , and also extracted from the image data can be inexpensively visual parameters .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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