文章基本信息

标题：Research on robot manipulator uncalibrated visual serving under two-camera bi-axial parallel vision configuration
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作者：Wang Niu ; Liu Lang ; Qiu Jing 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2015
卷号：7
期号：4
DOI：10.1177/1687814015578613
语种：English
出版社：Sage Publications Ltd.
摘要：This article presents a two-camera bi-axial parallel vision configuration to realize robot manipulator uncalibrated visual serving. The intrinsic and extrinsic parameters of the camera and the model of robot manipulator are not known, as well as without real-time computes the inverse of image Jacobian when image-based dynamic control of a robot manipulator in this article. First, the proposed vision configuration is applied to transform the Cartesian posture information into the point and angle parameters in the two image planes. After that, a qualitative mathematical model was established which analyzes the relationship between the feature point and line of the robot manipulator in the Cartesian space and the corresponding specific point and angle in the image plane. In addition, the monotonic property of the point and line features in the mathematic model has been proved. Then, the controller was designed based on image and realized the five-degrees of freedom of the robot manipulator uncalibrated visual serving control in the simulation platform. Moreover, the Lyapunov theory was used to prove the global asymptotic stability of proposed method in the image plane. Finally, the proposed method was compared with the method of image Jacobian matrix in the actual platform experiment, and the comparative experiment results show the effectiveness of the robot manipulator uncalibrated visual serving under the proposed vision configuration.
关键词：Uncalibrated visual serving; bi-axial parallel vision; five-degrees of freedom; robot manipulator; image Jacobian matrix