公开(公告)号：US11648682B2

公开(公告)日：2023-05-16

申请号：US17150287

申请日：2021-01-15

Applicant: Harbin Institute of Technology

Inventor： Huijun Gao ,  Weiyang Lin ,  Chenlu Liu ,  Hao Guo ,  Xinghu Yu ,  Mingsi Tong

IPC: B25J9/16 ,  G06V10/48 ,  G06F18/25 ,  G06F18/213 ,  G06V10/77 ,  G06V10/80 ,  G06V10/44

CPC classification number: B25J9/1697 ,  B25J9/1607 ,  B25J9/1664 ,  G06F18/213 ,  G06F18/25 ,  G06V10/44 ,  G06V10/48 ,  G06V10/7715 ,  G06V10/80 ,  G06V10/803

Abstract: The present disclosure relates to a visual servoing method based on fusion of distance space and image feature space. The method includes: constructing an image Jacobian matrix; constructing a depth Jacobian matrix; fusing the image Jacobian matrix and the depth Jacobian matrix, to obtain a hybrid visual servoing Jacobian matrix; and obtaining a robot motion control amount according to the hybrid visual servoing Jacobian matrix by using a control algorithm, to enable a robot to move to a target position, to complete precise positioning.