Uncalibrated Trinocular-Microscope Visual Servo Control Strategy
Considering that both calibtating accurate the camera parameters and establishing a precise robot kinematics model are hardly, the uncalibrated trinocular-microscope visual servoing control strategy used for achieving precise positioning of the cylindrical target is proposed in this paper. Firstly, using Canny-algorithm, polar coordinate scanning and Ransac Least-Square fitting to extract the features of the target image and Moving-edge algorithm is used to realize real-time tracking of the target. Secendly, dynamic Quasi-Newton algorithm is adopted to estimate the image Jacobian matrix of the trinocular-microscope visual system. Thirdly, use the variance minimization strategy of the target pose error function to control the end movement of positioning robot, and use the strategy of iterative least-squares to improve the stability of the whole system. Furthermore, obtain the initial value of image Jacobian matrix according to the target moving which is in form of discrete linear independence movement near the desired pose. Finally, the dynamic residuals are adjusted in order to achieve precise positioning of the target under the condition that the basic platform of the positioning robot is in disturbance. Experimental results demonstrate the effectiveness of the proposed strategy.
KeywordsQuasi-Newton algorithm Image jacobian Dynamic residuals Visual servoing control
This work was supported by a grant from the Joint Funding Project of Beijing Municipal Commission of Education and Beijing Natural Science Fund Committee (201710015010).
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