Design of eye-in-hand visual servo control system of industrial robots

WANG Hong-qi; WU Hai-bo; DONG Hao; RU Shu-hui

doi:10.13873/J.1000-9787(2019)04-0111-03

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Design of eye-in-hand visual servo control system of industrial robots

更新时间：2025-09-11

- Design of eye-in-hand visual servo control system of industrial robots
- Issue 4, Pages: 111-113(2019)
- 作者机构：
  
  河南理工大学电气工程与自动化学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2019)04-0111-03
  CLC： TP242.2
- Published：2019
- 稿件说明：
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WANG Hong-qi, WU Hai-bo, DONG Hao, et al. Design of eye-in-hand visual servo control system of industrial robots[J]. 2019, (4): 111-113.
DOI：

WANG Hong-qi, WU Hai-bo, DONG Hao, et al. Design of eye-in-hand visual servo control system of industrial robots[J]. 2019, (4): 111-113. DOI： 10.13873/J.1000-9787(2019)04-0111-03.

摘要

针对手眼视觉伺服系统中

传统图像雅克比矩阵存在参数难确定、目标运动不确定等问题

提出在线估计复合图像雅克比矩阵的视觉伺服方法。通过Kalman滤波器在线估计复合图像雅克比(Jacobian)矩阵

基于Lyapunov原理设计了视觉伺服控制器

实现了图像特征误差渐进收敛和运动目标的稳定跟踪。平面二连杆机器人仿真分析验证了所提算法的有效性。

Abstract

Aiming at problems that in eye-in-hand visual servo system

traditional Jacobian matrix is difficult to determine the parameters and uncertainty of target motion

a visual servo method for on-line estimation of composite image Jacobian matrix is proposed. The Kalman filter is utilized for online estimation of composite image Jacobian matrix

and a visual servo controller is designed based on the Lyapunov principle

it can realize the asymptotic convergence of the image characteristic error and the stable tracking of the moving target. The simulation of planar two-link robot validates the effectiveness of the algorithm.

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