OPTIMAL MOTION CONTROL FOR IBVS BY SEPARATING ROTATION IN Z-AXIS FROM GENERAL MOTION
In image-based visual servoing control, image change is directly interpreted to camera motion, there isnt direct control over the Cartesian velocities of the robot end-effector. As a result, the robot executes trajectories can be indirect or seemingly roundabout in Cartesian space. This paper proposes a new control scheme that overcomes the problem of the conventional visual servoing. The proposed approach separates the rotation in z-axis from general motion, and control robot to rotate firstly, till current image feature is coincident in direction with goal image feature, then control robot to execute the rest motion by common method. As there is not interferences of translation and rotation of image, the performance of this approach is more advantage in the setting times and the generating optimal motion trajectories of Cartesian space than classical IBVS. We illustrate new control scheme with a variety of simulation results.
Motion trajectory Camera retreat Jacobian matriz Visual servoing
CHENG GAO XIN-HE XU
ShenYang University of Technologygy, Northeastern University, Shenyang, China 110004 College of Information Science and Engineering, Northeastern University, Shenyang, China 110004
国际会议
2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)
昆明
英文
2061-2066
2008-07-12（万方平台首次上网日期，不代表论文的发表时间）