机器人无标定视觉伺服控制研究进展  

SURVEY ON UNCALIBRATED ROBOT VISUAL SERVOING CONTROL

作　　者：陶波[1] 龚泽宇[1] 丁汉[1] 

机构地区：[1]华中科技大学数字制造装备与技术国家重点实验室,武汉430074

出　　处：《力学学报》2016年第4期767-783,共17页Chinese Journal of Theoretical and Applied Mechanics

基　　金：国家自然科学基金资助项目(51535004)

摘　　要：视觉伺服控制是机器人系统重要的控制手段.相比传统的在标定条件下使用的视觉伺服系统,无标定视觉伺服系统具有更高的灵活性与适应性,是机器人伺服控制系统未来重要的发展方向和研究热点.本文从目标函数选择、控制器设计、运动轨迹规划三方面综述了无标定视觉伺服控制系统近年来的主要研究进展.首先根据目标函数的形式,分析了基于位置的视觉伺服、基于图像的视觉伺服以及混合视觉伺服各自的特点与应用;在控制器设计方面,根据是否在设计过程中考虑机器人的非线性动力学特性,分别介绍了考虑机器人运动学与考虑机器人动力学的无标定视觉伺服控制器的设计,重点突出了雅克比矩阵的构造与估计方法;针对无标定视觉伺服系统运动轨迹可能存在的问题,从空间轨迹优化与障碍规避的角度,阐述了已有的可行解决方案.最后,基于当前的研究进展展望了无标定视觉伺服的未来研究方向.Visual servo control is one of the most important control strategies of robot system. Uncalibrated visual ser-voing system reveals preferable flexibility and adaptability in comparison with the classical visual servo systems which require system calibration, therefore it becomes a significant branch and hotspot of research in the field of visual ser-voing. This paper reviews the research progress of uncalibrated visual servo control system in recent years from three perspectives, which are task function selection, controller design as well as motion planning. First, this paper analyzes the characteristics and applications of position-based visual servoing, image-based visual servoing as well as the hybrid visual servoing based on the form of task functions. As for the controller design, based on the fact whether robot dynamics are considered, this paper introduces the design of uncalibrated visual servo controller which takes robot kinematics or robot dynamics into consideration, and mainly emphasizes the formation and estimation of Jacobian matrixes. As for the possible problems in motion path of uncalibrated visual servo control, this paper also sets forth the existing feasible solutions from the perspective of motion path optimization and obstacle avoidance. Finally, we outline the direction in the future work of uncalibrated visual servoing research based on state of the art.

关 键 词：机器人 视觉伺服 无标定视觉伺服 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]