外文翻译-视觉伺服控制教程.docVIP

英 文 翻 译 系 别 专 业 班 级 学生姓名 学 号 指导教师  英文资料及译文 A Tutorial on Visual Servo Control This article provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspects of the image formation process. We then present a taxonomy of visual servo control systems. The two major classes of systems, position-based and image-based systems, are then discussed in detail. Since any visual servo system must be capable of tracking image features in a sequence of images, we also include an overview of feature-based and correlation-based methods for tracking. We conclude the tutorial with a number of observations on the current directions of the research field of visual servo control. The vast majority of todays growing robot population operate in factories where the environment can be contrived to suit the robot. Robots have had far less impact in applications where the work environment and object placement cannot be accurately controlled. This limitation is largely due to the inherent lack of sensory capability in contemporary commercial robot systems. It has long been recognized that sensor integration is fundamental to increasing the versatility and application domain of robots, but to date this has not proven cost effective for the bulk of robotic applications, which are in manufacturing. The frontier of robotics, which is operation in the everyday world, provides new impetus for this research. Unlike the manufacturing application, it will not be cost effective to re-engineer our world to suit the robot. Vision is a useful robotic sensor since it mimics the human sense of vision and allows for noncontact measurement of the environment. Since t