| 摘要 |
A robotic control system and method include a camera having an optical view and a robot having an end-effector and one or more joints for maneuvering end-effector. A digital video frame is acquired illustrating an image as optically viewed by the camera, and a visual servoing is executed for controlling a pose of end-effector relative to an image feature within the digital video frame. The visual servoing involves an identification of a tracking vector within an image coordinate system of the digital video frame extending from a tracking point to a target point associated with the image feature, a mapping of the tracking vector within a configuration space constructed from a robotic coordinate system associated with the end-effector, and a derivation of a pose of the end-effector within the robotic coordinate system from the mapping of the tracking vector within the configuration space. |
