杨月全;秦瑞康;李福东;曹志强;季涛;张天平;

• 1:扬州大学信息工程学院
• 2:中科院自动化研究所复杂系统管理与控制国家重点实验室

摘要(Abstract)：

针对机器人视觉伺服研究,分别从基于位置的视觉伺服、基于图像的视觉伺服、混合视觉伺服等对视觉伺服的研究进展进行了回顾.从雅可比在线估计法、雅可比自适应估计法、深度独立雅可比矩阵估计法等多方面详细分析了无标定视觉伺服.在此基础上,就视觉伺服的实时性、可靠性、多传感器融合、多任务控制、基于离散时间域及混杂系统的控制器等,对机器人视觉伺服控制所面临的挑战及进一步研究进行了分析与展望.

关键词(KeyWords)： 机器人;视觉伺服;雅可比矩阵;无标定

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金项目(61175111)

作者(Authors): 杨月全;秦瑞康;李福东;曹志强;季涛;张天平;

DOI: 10.13705/j.issn.1671-6841.2017222

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