Journal of Northeastern University Natural Science ›› 2020, Vol. 41 ›› Issue (3): 355-360.DOI: 10.12068/j.issn.1005-3026.2020.03.010

• Mechanical Engineering • Previous Articles     Next Articles

A Fast Tracking Strategy for Uncalibrated Visual Servo System

MA Shu-jun, JIN Tie-zheng, WANG Ying-lei, BAI Xin-hui   

  1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China.
  • Received:2019-05-21 Revised:2019-05-21 Online:2020-03-15 Published:2020-04-10
  • Contact: MA Shu-jun
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Abstract: In order to improve the tracking efficiency of manipulator tracking dynamic target, this paper proposed a fast tracking strategy of uncalibrated visual servo systems. On the one hand, by predicting the joint angle of the manipulator motion, the controller’s calculating behavior can be carried out in parallel with the manipulator’s moving behavior. On the other hand, the strategy uses the latest image information to calculate the joint angle, which improves the real-time performance of the system. In the simulation and physical experiments, two uncalibrated visual servo systems with different tracking strategy algorithms are constructed to track dynamic target. Finally, the fast, real-time and anti-jamming performance of the strategy are verified by comparing tracking time and tracking path.

Key words: visual servo, fast tracking strategy, manipulator, Jacobian matrix, tracking efficiency

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