A New Approach to Dynamic Eye-in-Hand Visual Tracking Using Nonlinear Observers

被引：57

作者：

Wang, Hesheng ^{[1
,2
]}

Liu, Yun-Hui ^{[3
,4
]}

Chen, Weidong ^{[1
,2
]}

Wang, Zhongli ^{[2
,5
]}

机构：

[1] Shanghai Jiao Tong Univ, Sch Elect Informat & Elect Engn, Dept Automat, Shanghai 200240, Peoples R China

[2] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin, Peoples R China

[3] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Hong Kong, Hong Kong, Peoples R China

[4] Natl Univ Def Technol, Joint Ctr Intelligent Sensing & Syst, Changsha 410073, Hunan, Peoples R China

[5] Beijing Inst Technol, Sch Comp Sci & Engn, Beijing 100081, Peoples R China

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2011年 / 16卷 / 02期

基金：

国家高技术研究发展计划(863计划);

关键词：

Eye-in-hand; nonlinear observer; visual tracking; ADAPTIVE-CONTROL;

D O I：

10.1109/TMECH.2009.2039941

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 presents a new controller for locking a moving object in 3-D space at a particular position (for example, the center) on the image plane of a camera mounted on a robot by actively moving the camera. The controller is designed to cope with both the highly nonlinear robot dynamics and unknown motion of the object. Based on the fact that the unknown position of the moving object appears linearly in the closed-loop dynamics of the system if the depth-independent image Jacobian is used, we developed a nonlinear observer to estimate the 3-D motion of the object online. With a full consideration of dynamic responses of the robot manipulator, we employ the Lyapunov method to prove asymptotic convergence of the image errors. Experimental results are used to demonstrate the performance of the proposed approach.

引用

页码：387 / 394

页数：8

共 28 条

[1]

Asada M., 1999, Proceedings. 1999 IEEE/SICE/RSJ. International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI'99 (Cat. No.99TH8480), P249, DOI 10.1109/MFI.1999.815998

[2] Two solutions to the adaptive visual servoing problem [J].