Calibration-free visual servo trajectory planning method for robots based on projective homography matrix

Abstract

The invention belongs to the technical field of a robot and discloses an uncalibrated vision servo trajectory planning method of a robot based on a projective homography matrix. The method comprises steps that firstly, an ideal image and a reference image are obtained, secondly, in combination with the matching relationship between an initial image and the ideal image and the reference image, a true value of the projective homography matrix between the initial image and the ideal image and a true value of an infinity projective homography matrix are calculated, and lastly, trajectory planningin the projective homography matrix space is carried out according to the true value of the projective homography matrix. The method is advantaged in that the trajectory planning process involved doesnot require any camera parameters at all, the generated trajectory of the projective homography matrix space is equivalent to combination of the linear motion and the optimal rotational motion of a camera in the three-dimensional space, and improvement of performance and robustness of the vision servo technology without calibration is facilitated.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a robot-free calibration visual servo trajectory planning method. Background technique [0002] By combining machine vision and robot technology, visual servo technology is conducive to expanding the application range of robots and improving the robot's operating capabilities. Traditional visual servoing technology needs to calibrate the camera, robot, and hand-eye relationship. The calibration process usually requires certain professional skills to complete, and it is time-consuming and labor-intensive, which is not conducive to the widespread promotion of visual servoing technology. The non-calibration visual servo technology effectively improves the robustness and flexibility of the visual servo system without losing the performance of the visual servo system by avoiding the system calibration link. [0003] The classic uncalibrated visual servoing method is us...

AI Technical Summary

Problems solved by technology

However, the method based on the projective homography matrix also faces the problems of unsatisfactory three-dimensional space trajectory and unknown global convergence characteristics.

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