机器人无标定视觉伺服控制研究进展力学进展.pdf

48 4 Vol. 48 No. 4 2016 7 Chinese Journal of Theoretical and Applied Mechanics July2016 1) 2) (430074) . . . . . TP242 A doi 101879-16-161 SURVEY ON UNCALIBRATED ROBOT VISUAL SERVOING CONTROL 1) Tao Bo2) Gong Zeyu Ding Han (The State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Scicence and Technology Wuhan 430074 China) Abstract Visual servo control is one of the most important control strategies of robot system. Uncalibrated visual ser- voing system reveals preferable flexibility and adaptability in comparison with the classical visual servo systems which require system calibration, therefore it becomes a significant branch and hotspot of research in the field of visual ser- voing. This paper reviews the research progress of uncalibrated visual servo control system in recent years from three perspectives, which are task function selection, controller design as well as motion planning. First, this paper analyzes the characteristics and applications of position-based visual servoing, image-based visual servoing as well as the hybrid visual servoing based on the form of task functions. As for the controller design, based on the fact whether robot dynamics are considered, this paper introduces the design of uncalibrated visual servo controller which takes robot kinematics or robot dynamics into consideration, and mainly emphasizes the formation and estimation of Jacobian matrixes. As for the possible problems in motion path of uncalibrated visual servo control, this paper also sets forth the existing feasible solutio