Study of visual servoing system of robot based on homography matrix

DING Jian-hua， YAO Ming-hai， ZHAO Yu
（College of Information Engineering， Zhejiang University of Technology， Hangzhou 310023， China）

Abstract： Aiming at getting the depth information in image Jacobian matrix and enlarging robot's application area in visual servoing system，a visual controller was designed based on the homography matrix. Then the singular value decomposition was executed after getting the homography matrix according to camera pinhole model，and the answer was as the input of the robot. A visual servoing simulation model was established，combined with robotics toolbox for Matlab and Simulink. Four peaks of a cuboid were selected as a target object. The results indicate that，by using this controller，image feature points have finally reached the desired position and the error has tended to zero，the steady-state characteristics and control precision of the system are made robust，so that an ideal control effect could be achieved.
Key words： visual servoing system of robot； homography matrix； image Jacobian matrix； camera pinhole model