Research on a Visual Servoing Control Method Based on Perspective Transformation under Spatial Constraint
نویسندگان
چکیده
Visual servoing has been widely employed in robotic control to increase the flexibility and precision of a arm. When end-effector arm needs be moved spatial point without coordinate, conventional visual method difficulty performing task. The present work describes space constraint challenges system by introducing an assembly node then presents two-stage approach based on perspective transformation. A virtual image plane is constructed using calibration-derived homography matrix. node, as well other objects, are projected into after that. Second, controller drives tracking projections adjusting position attitude workpiece accordingly. Three simple features combined composite feature, active disturbance rejection (ADRC) established improve arm’s motion sensitivity. Real-time simulations experiments employing vision with eye-to-hand configuration used validate effectiveness presented method. results show that can move desired coordinates.
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ژورنال
عنوان ژورنال: Machines
سال: 2022
ISSN: ['2075-1702']
DOI: https://doi.org/10.3390/machines10111090