四川大学学报（自然科学版）2012，Vol.49Issue(4)：800-804,5.DOI:10.3969/j.issn.0490-6756.2012.04.016
机器人无标定视觉伺服系统及离散仿真
Robotic uncalibrated visual servoing and discrete simulation
摘要
Abstract
This paper introduces robotic uncalibrated visual servoing for discrete simulation, and presents a kind of discrete simulink model with on-line pseudo-inverse estimation of image Jacobian matrix based on Simulink software firstly, and the robotic uncalibrated visual servoing discrete simulink models are developed for a two-link manipulator and a Puma560 robot. The simulation results for fixed targets show the validity of the robotic uncalibrated visual servoing discrete simulink model. It is useful to the simulation study of robotic uncalibrated visual servoing.关键词
离散模型/图像雅可比矩阵/无标定/在线估计Key words
discrete model/image Jacobian matrix/uncalibrated/on-line estimation分类
信息技术与安全科学引用本文复制引用
顾正刚,康庆生,陆锦军..机器人无标定视觉伺服系统及离散仿真[J].四川大学学报（自然科学版）,2012,49(4):800-804,5.基金项目
国家自然科学基金(60974016) （60974016）
江苏省自然科学基金(BK2008188) （BK2008188）
