Visual Servoing Using Image Moments and Nonlinear State Error Feedback Control Law
For the purpose of realizing 6 DOF robot’s visual servoing we choose image moments,which is a kind of global image features to construct task functions and present the analytical form of the interaction matrix also in order to solve the difficulties of acquiring the depth information of the target object we choose moments of desired image to replace the translation part of the interaction matrix Then the robustness of the Nonlinear State Error Feedback control law was analysed theorically Finally the simulation experimental results we present show the effectiveness of moment features and the robustness of Nonlinear State Error Feedback(NLSEF) control law.
Visual Servoing Image Moments NLSEF
LI Guo-dong TIAN Guo-hui XUE Ying-hua
School of Control Science and Engineering, Shandong University, Jinan 250061
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
3209-3214
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）