燕山大学学报2011，Vol.35Issue(3)：215-222,8.DOI:10.3969/j.issn.1007-791X.2011.03.005
一种新的双目立体视觉伺服控制模型及实验研究
A new model of binocular vision in image-based visual servoing robot control
摘要
Abstract
In most eye-in-hand visual servoing systems, the depth information must be given, because the traditional image Jacobian matrix always needs one. In this paper, a new binocular stereo visual servo model that the depth information can be ignored is proposed. In the new model, three image coordinate variables are introduced and which counteract the depth coordinate variable, so it is not needed to measure or estimate the depth information about the target. The depth estimation problem is completely solved and the control performance of the servo system is improved in the new model. By using this model and considering the kinematics characteristics of the robot separately, a positioning controller of a robotic end effector has been designed. The effectiveness of the controller has been verified via simulation and put forward the improvement algorithm with wider practicability. Furthermore, the binocular vision control experiment has been done by means of the MOTOMAN UP6 robotic manipulator. The experimental result shows that the new model is effective and feasible in practical control project.关键词
手眼系统；深度信息；双目视觉伺服；机器人运动学Key words
eye-in-hand system/ depth information/ binocular visual servoing/ robot kinematics分类
信息技术与安全科学引用本文复制引用
李惠光,康振波,冷春辉,金梅,邹立颖..一种新的双目立体视觉伺服控制模型及实验研究[J].燕山大学学报,2011,35(3):215-222,8.基金项目
河北省自然科学基金资助项目(F2008000860) （F2008000860）
