systemforcatchingfastmovingobjectsbyvision.rar - In this paper we describe a control methodology for
catching a fast moving object with a robot manipulator,
where visual information is employed to track the
trajectory of the target. Sensing, planning and control
are performed in real-time to cope with possible
unpredictable trajectory changes of the moving target,
and prediction techniques are adopted to compensate the
time delays introduced by visual processing and by the
robot controller. A simple but reliable model of the
robot controller has been taken into account in the
control architecture for improving the performance of the
system. Experimental results have shown that the robot
system is capable of tracking and catching an object
moving on a plane at velocities of up to 700 mm/s and
accelerations of up to 1500 mm/s2.,2008-07-14 16:09:41,下载15次
Versatilevisualservoing.rar - Versatile visual servoing without knowledge of true jacobian.pdf cobian matrix estimator.
The Jacobian matrix estimator does not need a priori
knowledge of the kinematic structure and parameters
of the robot system, such as camera and link parameters.
The proposed visual servoing control scheme ensures
the convergence of the image-features to desired
trajectories, by using the estimated Jacobian matrix,
which is proved by the Lyapunov stability theory. To
show the effectiveness of the proposed scheme, simulation
and experimental results are presented.,2008-07-14 16:08:13,下载27次
Adaptivebinocularvisualservoingforindependentlymov - Visual tracking is one of the key components for robots
to accomplish a given task in a dynamic environment,
especially when independently moving objects are included.
This paper proposes an extension of Adaptive
Visual Servoing (hereafter, AVS) for unknown moving
object tracking. The method utilizes binocular stereo
vision, but does not need the knowledge of camera parameters.
Only one assumption is that the system
need stationary references in the both images by which
the system can predict the motion of unknown moving
objects. The basic ideas how we extended the AVS
method such that it can track unknown moving objects
are given and formalized into a new AVS system. The
experimental results with proposed control architecture
are shown and a discussion is given.,2008-07-14 16:05:26,下载25次
chaosResearch.rar - 便尺度混沌优化，方法很简单，但是速度快，不易局部极小,2008-07-14 16:00:16,下载53次
chaos.rar - 一种改进的混沌优化，便尺度混顿优化的优势在于速度快，不容易掉入局部极小,2008-07-14 15:53:27,下载95次
ChaosToolbox.rar - 混沌优化，用于求解非凸优化，算法运算速度快,2008-07-14 15:46:33,下载177次