Weiguang Li, Guoqiang Ye, Hao Wan, Shaohua Zheng, Zhijiang Lu
{"title":"基于支持向量机的虚拟力矩视觉伺服解耦控制","authors":"Weiguang Li, Guoqiang Ye, Hao Wan, Shaohua Zheng, Zhijiang Lu","doi":"10.1109/ICINFA.2015.7279638","DOIUrl":null,"url":null,"abstract":"In order to improve the performance of image based visual servoing (IBVS) system, a novel moments based method with good decoupling and linearizing properties is proposed. Two virtual moments are designed to decouple the rotational motions around x-axis and y-axis of camera frame. Support vector machine regression method is proposed to learn the mapping model from four moment invariants to the virtual moments. With ESM and resolved-rate methods, the robotics IBVS controller is designed combing virtual moments and other four classical moment-combination features. Simulation results are provided to illustrate the effectiveness and optimal performance of the virtual moments and the proposed robotics IBVS controller.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Decoupled control for visual servoing with SVM-based virtual moments\",\"authors\":\"Weiguang Li, Guoqiang Ye, Hao Wan, Shaohua Zheng, Zhijiang Lu\",\"doi\":\"10.1109/ICINFA.2015.7279638\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In order to improve the performance of image based visual servoing (IBVS) system, a novel moments based method with good decoupling and linearizing properties is proposed. Two virtual moments are designed to decouple the rotational motions around x-axis and y-axis of camera frame. Support vector machine regression method is proposed to learn the mapping model from four moment invariants to the virtual moments. With ESM and resolved-rate methods, the robotics IBVS controller is designed combing virtual moments and other four classical moment-combination features. Simulation results are provided to illustrate the effectiveness and optimal performance of the virtual moments and the proposed robotics IBVS controller.\",\"PeriodicalId\":186975,\"journal\":{\"name\":\"2015 IEEE International Conference on Information and Automation\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 IEEE International Conference on Information and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICINFA.2015.7279638\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE International Conference on Information and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICINFA.2015.7279638","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Decoupled control for visual servoing with SVM-based virtual moments
In order to improve the performance of image based visual servoing (IBVS) system, a novel moments based method with good decoupling and linearizing properties is proposed. Two virtual moments are designed to decouple the rotational motions around x-axis and y-axis of camera frame. Support vector machine regression method is proposed to learn the mapping model from four moment invariants to the virtual moments. With ESM and resolved-rate methods, the robotics IBVS controller is designed combing virtual moments and other four classical moment-combination features. Simulation results are provided to illustrate the effectiveness and optimal performance of the virtual moments and the proposed robotics IBVS controller.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
