| 摘要 |
<p>An apparatus and method for enabling an uncalibrated, model independent controller for a mechanical system using a dynamic quasi-Newton algorithm which incorporates velocity components of any moving system parameter(s) is provided. In the preferred embodiment, tracking of a moving target (40) by a robot (10) having multiple degrees of freedom is achieved using an uncalibrated model independent visual servo control. Model independent visual servo control is defined as using visual feedback to control a robot's servomotors without precisely calibrated kinematic robot (10) model or camera (36) model. A processor (17) updates a Jacobian and a controller (14) provides control signals such that the robot's end effector (34) is directed to a desired location relative to a target (40) on a workpiece (38).</p> |
