Detail Moving Target Tracking with Uncalibrated   Oleh:  Zengqi, Sun ; Zhao, Qingjie Jenis: Article from Article Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 1450-1454. Topik: Robot Vision ; Moving Tracking Target Fulltext: AC021478.PDF (123.5KB) Isi artikel This paper proposes an image-based visual servoing scheme of an eye-in-hand system for tracking a moving target. For the change of image feature of such a system is influenced both by target motion and camera motion, it is difficult to seek out the part resulting from the target motion without other restrictions. This paper suggests an online method to estimate the image Jacobian matrix and the target motion in the image simultaneity from the measurements of robot joint vector and image feature vector. The control algorithm is deduced by dynamic Newton method. Neither a priori knowledge of system parameters nor any off-line calibrations are needed. Experimental results on a two-degree of freedom system demonstrate the success of the proposed scheme. Opini Anda Klik untuk menuliskan opini Anda tentang koleksi ini! Kembali

Copyright © 2006, 2007 Unika Atma Jaya, all rights reserved