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作者:

Zuo, Guoyu (Zuo, Guoyu.) | Liu, Yan (Liu, Yan.) | Huang, Gao (Huang, Gao.) | Gong, Daoxiong (Gong, Daoxiong.)

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EI Scopus

摘要:

The challenge in image-based visual servoing is to deal with the visibility constraints, which require the image features to always remain in the field of view (FOV) of the camera. In this paper, a novel constraint function is proposed to address this problem. The FOV constraint function represented by the coordinates of the features and the region boundaries defined in the image is added to the classical proportional controller, which leads the image features from the margin to the center of the image. Simulation results verify the efficiency of the modified controller by controlling a robot manipulator with eye-in-hand configuration. © 2022 IEEE.

关键词:

Robot applications Controllers Modular robots Flexible manipulators Industrial robots Visual servoing

作者机构:

  • [ 1 ] [Zuo, Guoyu]Faculty of Information, Beijing University of Technology, Beijing; 100124, China
  • [ 2 ] [Zuo, Guoyu]Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing; 100124, China
  • [ 3 ] [Liu, Yan]Faculty of Information, Beijing University of Technology, Beijing; 100124, China
  • [ 4 ] [Liu, Yan]Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing; 100124, China
  • [ 5 ] [Huang, Gao]Faculty of Information, Beijing University of Technology, Beijing; 100124, China
  • [ 6 ] [Huang, Gao]Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing; 100124, China
  • [ 7 ] [Huang, Gao]Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing; 100081, China
  • [ 8 ] [Gong, Daoxiong]Faculty of Information, Beijing University of Technology, Beijing; 100124, China
  • [ 9 ] [Gong, Daoxiong]Beijing Key Laboratory of Computing Intelligence and Intelligent Systems, Beijing; 100124, China

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年份: 2022

页码: 77-82

语种: 英文

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