机器人视觉伺服研究进展:视觉系统与控制策略

贾丙西; 刘山; 张凯祥; 陈剑

doi:10.16383/j.aas.2015.c140724

机器人视觉伺服研究进展:视觉系统与控制策略

doi: 10.16383/j.aas.2015.c140724

贾丙西^1,2,
刘山^1,2, ,,
张凯祥^1,2,
陈剑^1,2

1.
浙江大学工业控制技术国家重点实验室杭州 310027;
2.
浙江大学控制科学与工程学系杭州 310027

基金项目:

国家自然科学基金(61273133, 61433013)

详细信息

作者简介:
贾丙西浙江大学控制科学与工程学系博士研究生. 主要研究方向为计算机视觉, 视觉伺服控制.E-mail: bxjia@zju.edu.cn

通讯作者:
刘山浙江大学控制科学与工程学系副教授. 2002 年获得浙江大学控制科学与工程学系博士学位. 主要研究方向为学习控制, 视觉伺服控制, 机器人技术.E-mail: sliu@iipc.zju.edu.cn

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- 被引次数: 0
出版历程
- 收稿日期: 2014-10-27
- 修回日期: 2015-01-06
- 刊出日期: 2015-05-20

Survey on Robot Visual Servo Control: Vision System and Control Strategies

JIA Bing-Xi^1,2,
LIU Shan^{1,2
, ,},
ZHANG Kai-Xiang^1,2,
CHEN Jian^1,2

1.
State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027;
2.
Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027

Funds:

Supported by National Natural Science Foundation of China (61273133, 61433013)

摘要

摘要: 视觉伺服控制是机器人系统的重要控制手段. 随着机器人应用需求的日益复杂多样,视觉伺服的研究面临着挑战. 视觉伺服系统的设计主要包括视觉系统、控制策略和实现策略三个方面. 文中对视觉伺服中存在的主要问题进行了分析,重点介绍了视觉系统中改善动态性能和处理噪声的主要技术手段,阐述了处理模型不确定性和约束的控制策略的改进方案,总结了提高视觉伺服系统的可实现性和灵活性的实现策略. 最后,基于当前的研究进展对未来的研究方向进行了展望.
- 视觉伺服 /
- 研究进展 /
- 视觉系统 /
- 控制策略
Abstract: Visual servo control is an important control strategy for robotic systems. With the increasing complication and diversification of robotic applications, the study of visual servo control faces challenges. The design of visual servo systems mainly involves vision systems, control strategies and implementation strategies. In this paper, existing problems in visual servo control are analysed. Approaches in vision systems to improve dynamic performance and to deal with noise are introduced, improvements in control strategies to deal with model uncertainties and constraints are summarized, and implementation strategies to improve the realizability and flexibility of visual servo systems are concluded. Finally, future work is outlined based on the current research progress.
- Visual servo control /
- research development /
- vision system /
- control strategy

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参考文献(133)

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