ROBOT VISUAL SERVO CONTROL BASED ON SWITCHING APPROACH

摘要：

According to the theory of hybrid dynamic system, a new method-switching approach, is applied to robot visual servo system. Two visual servo sub-controllers are introduced in detail, homography-based controller and affine approximation controller. The system switches between the two controllers according to a switching rule. The experiment result shows that this system works well, and can realize visual servo task exactly.

关键词： Homography matriz Affine transformation Switching control Visual servo

作者: XIAO-PING ZONG XIAO-LI HUAI PEI-GUANG WANG LEI HAO

作者单位: College of Electronic and Informational Engineering, Hebei University, Baoding, Hebei 071002

会议类型: 国际会议

会议名称: 2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)

会议地点: 昆明

会议语种:英文

页码: 2104-2108

在线出版日期: 2008-07-12（万方平台首次上网日期，不代表论文的发表时间）