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针对眼在手上视觉伺服提出了一种保持目标物体特征点始终位于视场内的算法.当投影点接近视场边缘时,求解投影点的移动速度,然后在此基础上设计相机的补偿速度,阻止投影点离开视场.基于Matlab,比较了一般的视觉伺服与速度补偿后的视觉伺服的控制效果.仿真结果表明这种方法可以有效地防止目标脱离视野,并且对机器人的约束较小,给优化留下了较大的空间.
Aiming at the visual servo in the eyes, an algorithm is proposed to keep the feature points of the target object in the field of view. When the projection point is close to the edge of the field of view, the moving speed of the projection point is solved, and then the compensation speed of the camera is designed , To prevent the projection point from leaving the field of view.Compared with the general visual servo and velocity compensation visual servoing based on Matlab, the simulation results show that this method can effectively prevent the target from being out of view, Give the optimization left a lot of space.