基于图象差的平面大范围视觉伺服控制 - 控制与决策.PDF

第15 卷第5 期 2000 年9 月 Vol. 15 No . 5 CON TR OL A N D DE CIS I ON Sept. 2000 * 林　靖　徐强华　陈辉堂　蒋　平　王月娟 ( 200092) 为解决大范围偏差的控制问题, 将期望图象按给定的角度间隔旋转, 线生成 一系列子期望图 象。比较实时采集图象与期望子图象间的差异程度可获取目标绕重心的旋转运动参数。结合图象求重心 方法给出的平动参数, 实现了在大范围偏差时迅速将摄象机调整到期望位姿。在期望位姿附近结合直 接图象反馈方式, 实现了基于图象差的平面大范围视觉伺服控制。 机器人视觉, 视觉伺服控制, 图象差 TP 13 - - Image error based Planar Global Visual Servoing , , , , Lin J ing X u Qianghua Chen H uitang J iang P ing Wang Yuej uan (T ongji University) - - . A bstract A s heme for large s ale deviation ontrol in a vision guided grasping task is presented T he desired image is rot ated w it h a spe ifi int erval to generate a series of desired sub-images off-line. T he rot ational ontrol parameter ould be obtained by omparing the desired sub-images with the real-time sampled image. Combining the rotational paramet ers with the translational paramet ers obtained from , . , image entroid the amera ould be rapidly regulated to the desired pose Round the desired pose t he met hod is ombined with the dire t image feedba k ontrol s heme to realize the image-error -based planar global visual servoing. , , Key words robot vision visual servoing image error 1引　　言 , , [ 5] , , , ,