Calibration-free and model-independent method for high-DOF image-based visual servoing  

作　　者：Jie ZHANG Ding LIU 

机构地区：[1]School of Automation and Information Engineering, Xi'an University of Technology

出　　处：《控制理论与应用（英文版）》2013年第1期132-140,共9页

基　　金：supported by the National Natural Science Foundation of China (No. 60675048)

摘　　要：This paper presents a novel method to improve the performance of high-DOF image base visual servoing （IBVS） with an uncalibrated camera. Firstly, analysis and comparison between point-based and moment-based features are carried out with respect to a 4-DOF positioning task. Then, an extended interaction matrix （IM） related to the digital image, and a Kalman filter （KF）-based estimation algorithm of the extended IM without calibration and IM model are proposed. Finally, the KF-based algorithm is extended to realize an approximation to decoupled control scheme. Experimental results conducted on an industrial robot show that our proposed methods can provide accurate estimation of IM, and achieve similar performance compared with traditional calibration-based method. Therefore, the proposed methods can be applied to any robot control system in variational environments, and can realize instant operation to planar object with complex and unknown shape at large displacement.This paper presents a novel method to improve the performance of high-DOF image base visual servoing （IBVS） with an uncalibrated camera. Firstly, analysis and comparison between point-based and moment-based features are carried out with respect to a 4-DOF positioning task. Then, an extended interaction matrix （IM） related to the digital image, and a Kalman filter （KF）-based estimation algorithm of the extended IM without calibration and IM model are proposed. Finally, the KF-based algorithm is extended to realize an approximation to decoupled control scheme. Experimental results conducted on an industrial robot show that our proposed methods can provide accurate estimation of IM, and achieve similar performance compared with traditional calibration-based method. Therefore, the proposed methods can be applied to any robot control system in variational environments, and can realize instant operation to planar object with complex and unknown shape at large displacement.

关 键 词：Image-based visual servoing Interaction matrix Image moment Kalman filter Decoupled control scheme 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]