robot-visual-servo-control-讲义(很好)

RobotVisualServoControl:Position-BasedVisualServoingResearchattheUniversityofWaterlooUniversityofWaterlooDr.WilliamJ.Wilson页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0001.htmUniversityofWaterlooWhatIsRobotVisualServoControl?Directdynamiccontroloftherobotend-veffectorrelativetoatargetobject,basedonvisionmeasurementsinthefeedbackpath.Inmanyapplications,asinglecameravmountedontheend-effectorisusedforthevisualfeedback.页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0082.htmFixturelessAssemblyFlexibleAssemblyLighter,FasterRobotsTele-OperationAssistanceOperationsonMovingAssemblies页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0002.htmUniversityofWaterlooRobotVisualServoControl页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0073.htmConventionalRobotControlTask/PathPlannerRobotControlLanguageRobotAxisServosROBOTmovecommandsequenceaxisvelocityprofilesmotordrivesignalsθbaseframecartesiancoordinatesjointcoordinates(100Hz)(1000Hz)页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0007.htmConventionalRobotControlwithVisionFeedbackTask/PathPlannerRobotControlLanguageRobotAxisServosROBOTmovecommandsequenceaxisvelocityprofilesmotordrivesignalsImageAnalysisSystemmodifypathplansbaseframecartesiancoordinatesjointcoordinates(100Hz)(1000Hz)θ页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0008.htmConventionalRobotControlwithVisionFeedbackTask/PathPlannerRobotControlLanguageRobotAxisServosROBOTmovecommandsequenceaxisvelocityprofilesmotordrivesignalsImageAnalysisSystemmodifypathplansbaseframecartesiancoordinatesjointcoordinates(100Hz)(1000Hz)θmodifiedmovecommands(1Hz)页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0009.htmDefinitionofVariousPOSEVectorsWBEWEO~WEOrefWEerrorReferenceControlLoopErrorRelativePOSEEstimates页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0077.htmRelativeRobotEnd-PointControlUsingVisualServoControlRelativeTask/PathPlannerRelativeRobotControlLanguageROBOTrelativemovecommandsequencerelativeaxisvelocityprofilesVision-basedRelativePOSEEstimationSystemRobotAxisServosVisionServoControlcommandedjointaxispositionsobject-basedcartesiancoordinatesjointcoordinates(100Hz)(100Hz)(1000Hz)θ页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0010.htmUniversityofWaterlooDesignSystemstoPerformtheFollowing:RelativePOSEestimationoftheobjectswithvrespecttothecamerabasedonimageplanefeaturelocationmeasurements.IntegrationofallsensorinformationtogivevhighbandwidthoptimalestimatesoftherelativePOSEofobjectswithrespecttotherobotend-point.Dynamiccontroloftherobotend-pointrelativevmotionwithrespecttoobjectsintheworkenvironment.IntegratedVisualServoControlDesignMethod页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0023.htmUniversityofWaterlooGeneralProblemStatement:GiventheFollowing:Manipulatorend-pointmountedcamerasvFixedcamerasvVariousotherpositionsensorsvRobotaxisencoderoutputsvDescriptionofthepartsintheworkspacevIntegratedVisualServoControlDesignMethod页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0022.htmUniversityofWaterlooPOSE-BasedVisualServoingvs.ImagePlaneVisualServoing:POSE-Based: DeterminestheobjectPOSEinthevcameraframeandthenimplementstherobotcontrolintheend-effectorCartesianco-ordinateframe.ImagePlane: Formsthecontroldirectlyinthevimageplanetomovetheimagefeaturepointstodesiredlocationsintheimageplane.页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0071.htmImagePlaneTargetObjectXiYiOi(x,y)jijiImagePlaneServoControlMeasured featurepointsDesiredfeaturepointsetOpticalaxis页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0072.htmUniversityofWaterlooImagePlaneVisualServoing:BasedontheImageJacobean-thechangesinvimageplanefeaturelocationsw.r.tchangesinrobotjointangles.Bestsuitedtoplanarmotionwheretheplaneisvparalleltotheimageplaneandataknowndistance.Doesnotrequireamodelofthetargetobjectifvthedesiredlocationoftheimagefeaturepointsetisobtainedthroughrobottraining.Difficulttodotrajectoryplanninginthenon-vintuitiveimagefeaturespace.页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0026.htmImagePlaneCameraFrameObjectFrameXoZoYoOoXcYcZcOcXiYiOiPjo(x,y)jijiObjectfeaturepoint,Pjoprojectedontotheimageplane.POSE-BasedVisionServoing页码，1/1Dr.W.J.Wilson2004-2-7~robocon/visualservo_files/slide0027.htmUniversityofWaterlooPOSE-BasedVisionServoingRequiresamodelofthetargetobject.vRequirescameracalibration.vFullygeneralizedforfull6DOFrelativemotion.vTrajectoryplanningisdoneinanintuitive,vfamiliarCartesianco-ordinatespace.Providesaframeworkformultiplesensorvintegration.Thereisaclearseparati