关键词: 机器人, 视觉伺服, 摄像机回退, 图像特征.

Abstract: In image-based visual servoing control, image change is directly interpreted to camera motion, there isn’t direct control over the Cartesian velocities of the robot end-effector. As a result, the robot executes trajectories can be indirect or seemingly roundabout in Cartesian space. This paper proposes a new control scheme that overcomes the problem of the conventional visual servoing. The proposed approach separates the rotation from general motion, and control robot to rotate firstly, till current image feature is coincident in direction with goal image feature, then control robot to execute the rest motion by common method. As there is not interferences of translation and rotation of image, the performance of this approach is more advantage in the setting times and the generating optimal motion trajectories of Cartesian space than classical IBVS. Camera retreat is interpreted with the control law of classical IBVS and the perspective imaging model of camera. We illustrate new control scheme with a variety of simulation results.

Key words: robot, visual servoing, camera retreat, image feature.