Calibration-free and model-independent method for high-DOF image-based visual servoing-无校准和模型独立的方法，用于高自由度的基于图像的视觉伺服.pdfVIP

JControl 20131 Theory 1(1)132-140 Appl DOI and method Calibration·free for visual servoing high·DOFimage—based Jie LIU ZHANGt，Ding Shaanxi SchoolofAutomationandInformation 710048，China Engineering，Xi’anUniversityofTechnology,Xi’an Abstract：This anovelmethodto the of basevisual paperpresents improveperformancehigh—DOFimage servoing moment—basedfeaturesare withanuncalibrated and between and fIBVSl camera．Firstly，analysiscomparisonpoint—based carriedoutwith toa4一DOF extendedinteraction tothe task．Then，an matrix(IM)relateddigitalimage， respect positioning andIMmodelare andaKalmanfilter estimation oftheextendedIMwithoutcalibration fKF)一based algorithm proposed。 KF—based isextendedtorealizean to control results Finally．the algorithm approximationdecoupledscheme．Experimental accurateestimationof achieve conductedon