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针对传统基于图像的视觉伺服在处理摄像机退化等方面存在的不足,研究了融合三维特征与二维特征的图像视觉伺服方法。通过在经典IBVS(Image based visual servoing)控制结构基础上,将二维图像特征重构为三维特征,建立了模型化的3D特征机器人视觉伺服控制模型,并通过Simulink等仿真工具,分析比较了2种方法在图像空间和笛卡尔空间的空间运动特性,试验结果证实了方法的可行性和有效性。
Aiming at the shortcomings of the traditional image-based visual servoing in dealing with the degradation of the camera, the image visual servoing method which combines three-dimensional features and two-dimensional features is studied. Based on the control structure of classic IBVS (Image based visual servoing), the 2D image features are reconstructed into 3D features, and the model of 3D visual robot servo control model is established. Simulink simulation tools are used to analyze and compare 2 The spatial motion characteristics of the proposed method in image space and Cartesian space are tested. The experimental results confirm the feasibility and effectiveness of the proposed method.