自动化学报Issue(5)：861-873,13.DOI:10.16383/j.aas.2015.c140724
机器人视觉伺服研究进展：视觉系统与控制策略
Survey on Robot Visual Servo Control：Vision System and Control Strategies
摘要
Abstract
Visual servo control is an important control strategy for robotic systems. With the increasing complication and diversification of robotic applications, the study of visual servo control faces challenges. The design of visual servo systems mainly involves vision systems, control strategies and implementation strategies. In this paper, existing problems in visual servo control are analysed. Approaches in vision systems to improve dynamic performance and to deal with noise are introduced, improvements in control strategies to deal with model uncertainties and constraints are summarized, and implementation strategies to improve the realizability and flexibility of visual servo systems are concluded. Finally, future work is outlined based on the current research progress.关键词
视觉伺服/研究进展/视觉系统/控制策略Key words
Visual servo control/research development/vision system/control strategy引用本文复制引用
贾丙西,刘山,张凯祥,陈剑..机器人视觉伺服研究进展：视觉系统与控制策略[J].自动化学报,2015,(5):861-873,13.基金项目
国家自然科学基金(61273133,61433013),青年千人计划资助Supported by National Natural Science Foundation of China (61273133,61433013) and The Recruitment Program of Global Youth Experts （61273133,61433013）
