Image-based Visual Servoing using Improved Image Moments in 6-DOF Robot Systems

被引：16

作者：

Zhao, Yimin ^{[1
]}

Xie, Wen-Fang ^{[1
]}

Liu, Sining ^{[1
]}

机构：

[1] Concordia Univ, Dept Mech & Ind Engn, Montreal, PQ H3G 1M8, Canada

来源：

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2013年 / 11卷 / 03期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Image moment; image-based visual servoing; robotic system; visual servoing;

D O I：

10.1007/s12555-012-0232-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the challenges of choosing proper image features for planar symmetric shape objects and designing visual servoing controller to enhance the tracking performance in image-based visual servoing (IBVS). Six image moments are chosen as the image features and the analytical image interaction matrix related to the image features are derived. A controller is designed to efficiently increase the robustness of the visual servoing system. Experimental results on a 6-DOF robot visual servoing system are provided to illustrate the effectiveness of the proposed method.

引用

页码：586 / 596

页数：11

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