Image-based Visual Servoing using Improved Image Moments in 6-DOF Robot Systems

被引：9
|
作者：
Zhao, Yimin [1 ]
Xie, Wen-Fang [1 ]
Liu, Sining [1 ]
机构：
[1] Concordia Univ, Dept Mech & Ind Engn, Montreal, PQ H3G 1M8, Canada
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2013年 / 11卷 / 03期
基金：
加拿大自然科学与工程研究理事会;
关键词：
Image moment; image-based visual servoing; robotic system; visual servoing;
D O I：
10.1007/s12555-012-0232-9
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the challenges of choosing proper image features for planar symmetric shape objects and designing visual servoing controller to enhance the tracking performance in image-based visual servoing (IBVS). Six image moments are chosen as the image features and the analytical image interaction matrix related to the image features are derived. A controller is designed to efficiently increase the robustness of the visual servoing system. Experimental results on a 6-DOF robot visual servoing system are provided to illustrate the effectiveness of the proposed method.
引用
收藏
页码：586 / 596
页数：11
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