Research on Tracking Control of a 5-DOF Visual Servo Robot
WANG Jianhua1,2, ZHAO Xiaoguang1, TAN Min 1
1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
汪建华, 赵晓光, 谭民. 一种5自由度视觉伺服机器人的跟踪控制研究[J]. 机器人, 2005, 27(3): 215-219..
WANG Jianhua, ZHAO Xiaoguang, TAN Min . Research on Tracking Control of a 5-DOF Visual Servo Robot. ROBOT, 2005, 27(3): 215-219..
Abstract：This paper introduces the architecture of an image-based visual servo robot system and the algorithm implemented to track a target with planar motion. This robot system has 5 degrees of freedom, which consists of a robot with 3 DOFs and a 2-DOF wrist attached to the end of the robot. And, a camera is fixed on the end of the wrist. With low inertia, the wrist rotates quickly to track the target, while the 3-DOF robot moves the camera to an appropriate position to take a close look at the target when needed. The system tracks the target successfully. Furthermore, this paper proposes some approaches to improve the system performance, and the experiments verify them.
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