关键词: 视觉伺服, 旋转矩阵分解, 家庭服务机器人

Abstract:

To avoid the target being lost from the camera views in the application of traditional visual servoing methods, a new characteristic vector was derived from the rotation axis and a rotation angle decomposing from the rotation matrix connecting the current camera frame and the desired camera frame, as well as the Jacobian matrix representing the relationship between the time variation of the characteristic vector and the camera velocity. The proposed characteristic vector could be efficiently applied to control the camera’s orientation so that the task function was constructed, and a decoupled control scheme was designed using the second Lyapunov method. Experimental results showed that the failures of visual servoing tasks for home environments could be avoided by using the rotation matrix decomposition method.

Key words: visual servoing, rotation matrix decomposition, room service robot