带有时延补偿的图像雅可比矩阵估计方法

被引：10

作者：

高振东

苏剑波

机构：

[1] 上海交通大学自动化系

来源：

控制理论与应用 | 2009年 / 26卷 / 01期

关键词：

无标定视觉伺服; 时延补偿; 图像雅可比矩阵估计;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

提出一种新的带有时延补偿的图像雅可比矩阵在线估计方法,用于存在时延的无标定视觉伺服系统.传统的图像雅可比矩阵估计方法没有考虑时延影响,从而产生较大的估计误差.为了补偿时延,本文采用局部拟合方法估计图像雅可比矩阵,以获得当前时刻更准确的图像雅可比矩阵估值,并可对图像预补偿.本文以无标定的移动机器人和视觉传感器为实验对象,仿真和实验表明该方法改善了系统的动态性能,减小了稳态误差,从而验证带有时延补偿的图像雅可比矩阵估计方法的可行性和有效性.

引用

页码：23 / 27

页数：5

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