基于图像矩的机械手视觉预测控制体系结构

2011 IEEE International Symposium on Industrial Electronics Pub Date : 2011-06-27 DOI:10.1109/ISIE.2011.5984289

C. Copot, A. Burlacu, C. Lazar

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引用次数: 7

摘要

利用图像矩作为视觉特征，提高视觉伺服系统非线性预测控制技术的性能是本文的主要目标。开发了基于局部模型的预测器，并利用基于图像矩的参考轨迹构造了代价函数。设计了一种新型的视觉预测控制体系结构，并开发了仿真器。给出了一种6自由度手眼方案的仿真结果。

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Visual predictive control architecture based on image moments for manipulator robots

Increasing performances of nonlinear predictive control techniques for visual servoing systems, by using image moments as visual features, is the main goal of this paper. An local model based predictor is developed and the cost function is constructed using a image moments based reference trajectory. A new type of visual predictive control architecture is designed and a simulator is developed. Simulation results for a 6 d.o.f eye-in-hand scheme are revealed.

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2011 IEEE International Symposium on Industrial Electronics

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