A Fast Tracking Strategy for Uncalibrated Visual Servo System

被引：0
|
作者：
Ma S.-J. [1 ]
Jin T.-Z. [1 ]
Wang Y.-L. [1 ]
Bai X.-H. [1 ]
机构：
[1] School of Mechanical Engineering & Automation, Northeastern University, Shenyang
来源：
Dongbei Daxue Xuebao/Journal of Northeastern University | 2020年 / 41卷 / 03期
关键词：
Fast tracking strategy; Jacobian matrix; Manipulator; Tracking efficiency; Visual servo;
D O I：
10.12068/j.issn.1005-3026.2020.03.010
中图分类号：
学科分类号：
摘要：
In order to improve the tracking efficiency of manipulator tracking dynamic target, this paper proposed a fast tracking strategy of uncalibrated visual servo systems. On the one hand, by predicting the joint angle of the manipulator motion, the controller's calculating behavior can be carried out in parallel with the manipulator's moving behavior. On the other hand, the strategy uses the latest image information to calculate the joint angle, which improves the real-time performance of the system. In the simulation and physical experiments, two uncalibrated visual servo systems with different tracking strategy algorithms are constructed to track dynamic target. Finally, the fast, real-time and anti-jamming performance of the strategy are verified by comparing tracking time and tracking path. © 2020, Editorial Department of Journal of Northeastern University. All right reserved.
引用
收藏
页码：355 / 360
页数：5
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