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Based on Kalman Filter the Mobile Manipulator Non-calibration Free Dynamic Target Tracking Technology Research

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2 Author(s)
Lingyu Sun ; Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin ; Minglu Zhang

This paper presents the un-calibrated vision servo control algorithm to track the target with mobile manipulator. Color histogram distance calculation methods and shape matching method are discussed to recognize the target .The on-line estimation algorithm for Image Jacobian matrix model is designed based on the Kalman filter. With this image Jacobian on-line estimator, the visual feedback controller is designed for the tasks of tracking target by un-calibrated vision sensor. The efficiency of un-calibrated vision servo control algorithm has been verified by experiments on Hebut-II mobile robot.

Published in:

Electronic Computer Technology, 2009 International Conference on

Date of Conference:

20-22 Feb. 2009

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