A New Image-Based Visual Servoing Method with Rotational Compensation

被引：0

作者：

Xu, De ^{[1
]}

Lu, Jinyan ^{[1
]}

Wang, Peng ^{[1
]}

Zhang, Zhengtao ^{[1
]}

Zhang, Dapeng ^{[1
]}

Liang, Zize ^{[2
]}

机构：

[1] Chinese Acad Sci IACAS, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China

[2] IACAS, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2016年

基金：

中国国家自然科学基金;

关键词：

Interaction matrix; sensitive features; depth estimation; visual servoing; visual control; TRACKING; ROBOTS;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A new image-based visual servoing method based on point features is presented to partially decouple the position and orientation controls. The control laws are designed for rotation and translation, respectively. Rotation takes priority over translation, but the movement of features caused by rotation is compensated in the translation control law. A monitor is designed to manage the adjustments for orientation and position. It limits the rotational amount for each step in the given range to ensure the features be in the camera's field of view. It also limits the translational amount for each step in the given range to ensure the reachability. Experimental results verify the effectiveness of the proposed method.

引用

页码：1099 / 1104

页数：6

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