Study on Model-based Visual Servoing with Reconstructed 2D Features

Authors

Guoliang Zhang, Computer Science and Technology Institute, Huaqiao University, Xiamen 361021, China;
Jixiang Du, Computer Science and Technology Institute, Huaqiao University, Xiamen 361021, China;
Zhanni Wang, Computer Science and Technology Institute, Huaqiao University, Xiamen 361021, China;
Wang Tian, Computer Science and Technology Institute, Huaqiao University, Xiamen 361021, China;

Abstract

Abstract: To overcome the defect of camera retreat in image based visual servoing, a model-based visual servoing incorporated 2D image based visual servoing with 3D features was proposed. The robot visual servoing model was established by altering traditional two dimensional feature to three dimensional features based on traditional IBVS control structure. Furthermore, combined with the Simulink software, simulation model was established and motion characteristics of two methods were analyzed and compared in image space and Cartesian space. The experiment results confirm the feasibility and effectiveness of the proposed method.

Recommended Citation

Zhang, Guoliang; Du, Jixiang; Wang, Zhanni; and Tian, Wang (2020) "Study on Model-based Visual Servoing with Reconstructed 2D Features," Journal of System Simulation: Vol. 28: Iss. 6, Article 2.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol28/iss6/2

First Page

1255

Revised Date

2015-10-15

DOI Link

https://doi.org/

Last Page

1261

CLC

TP242

Recommended Citation

Zhang Guoliang, Du Jixiang, Wang Zhanni, Wang Tian. Study on Model-based Visual Servoing with Reconstructed 2D Features[J]. Journal of System Simulation, 2016, 28(6): 1255-1261.