A Study of Visual Servo System Based on Binocular Camera

被引：2
|
作者：
Hu, Lei [1 ]
Shen, Chen [1 ]
机构：
[1] Beihang Univ, Sch Mech Engn & Automat, Beijing, Peoples R China
来源：
PROCEEDINGS OF THE 5TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING AND AUTOMATIC CONTROL | 2016年 / 367卷
关键词：
Robot; Visual servo; Simulation; PID controller;
D O I：
10.1007/978-3-662-48768-6_123
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In robot-assisted orthopedic surgery, instruments attached to end-effector may collide with patient in the process of drilling. To solve this problem, a robot visual servo control system based on binocular cameras is built. Visual information is used by improved PID algorithm to control the surgical robot to track the movement of the patient. In addition, the model of the control system is established by MATLAB. At last, a model experiment is performed to verify the feasibility of the system.
引用
收藏
页码：1105 / 1112
页数：8
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