Edificio Quorum V, Miguel Hernandez University, Avda. de la Universidad S/N, 03202 Elche, Spain.
Sensors (Basel). 2011;11(12):11885-900. doi: 10.3390/s111211885. Epub 2011 Dec 20.
The reliability and robustness of image-based visual servoing systems is still unsolved by the moment. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations is proposed. Its control law has been defined to assure that the whole system is stable if each subsystem is stable and to allow avoiding typical problems of image-based visual servoing systems like task singularities, features extraction errors, disappearance of image features, local minima, etc. Experimental results with an industrial robot manipulator based on Schunk modular motors to demonstrate the stability, performance and robustness of the proposed system are presented.
基于视觉的视觉伺服系统的可靠性和鲁棒性至今仍未得到解决。为了解决这个问题，提出了一种基于眼在手/眼到手配置中两个摄像机提供的信息的冗余和协作的二维视觉伺服系统。已经定义了其控制律，以确保如果每个子系统稳定，则整个系统是稳定的，并允许避免基于视觉的视觉伺服系统的典型问题，如任务奇点、特征提取误差、图像特征消失、局部极小值等。提出了一种基于雄克模块电机的工业机器人机械手的实验结果，以证明所提出系统的稳定性、性能和鲁棒性。
