Research on Uncalibrated Image Visual Servo Control for Fully Autonomous Intelligent Robots
In the process of using fully autonomous intelligent robots to detect and track targets,in order to improve the servo control effect of host components on a robot,an uncalibrated image visual servo control method is designed.Firstly,the uncalibrated estimation results on the robot trajectory is used to measure the pose points of the target object,and derive the detection and tracking conditions of the target object in the uncalibrated image of the robot.As needed,the visual servo controller is connected,and the ser-vo selection criteria for image visual features is calculated to solve the inner product of uncalibrated motion of the robot,and achieve the servo selection for the uncalibrated image visual features of the robot.Then,a Jacobian matrix is defined in the uncalibrated im-age,and the servo matching of robot image corners is completed according to the principle of image visual segmentation.Then,the visual servo control of the uncalibrated image is achieved by determining the range of reinforcement control parameters.Through the experiment,the designed method can solve intelligent robots have difficulty in moving to the calibration area,providing a guarantee for improving the effectiveness of servo control command execution.
NETL
NSTL
万方数据
