Tracking of Two Dimensional Based On Kalman Filtering

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Tracking of Two Dimensional Based On Kalman Filtering

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[1]LIU Guang-rui,HUANG Zhen,HAN Li-li,et al.Tracking of Two Dimensional Based On Kalman Filtering[J].Journal of Zhengzhou University (Engineering Science),2013,34(01):95-98.[doi:10.3969/j.issn.1671-6833.2013.01.023]

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Journal of Zhengzhou University (Engineering Science)[ISSN 1671-6833/CN 41-1339/T] Volume: 34 Number of periods: 2013 01 Page number: 95-98 Column: Public date: 2013-01-16

Title:: Tracking of Two Dimensional Based On Kalman Filtering

Author(s):: LIU Guang-rui1; HUANG Zhen1; HAN Li-li2; BI Jing-kai1; 1.School of Mechanical Engineering，Zhengzhou University , Zhengzhou 450001 , China;2.School of Mechanical Engineering,Henan University of Technology , Zhengzhou 450007 , China

Keywords:: Kalman filtering ; Jacobimatrix ; estimated on line

CLC:: TP249

DOI:: 10.3969/j.issn.1671-6833.2013.01.023

Abstract:: The control of the visual-servo robot is feedback controlled through presenting the feature space ofrobot system by the graphic Jacobimatrix of the systerm.A SCARA robot system is established firstly. In viewof the physical meaning of the system Jacobianmatrix, the system state equation would be built according to theincremental of Jacobionmatrix,then the Jacabian matrix would be estimated on-line through the Kalman filte-ring. This method is analyzed based on the MATLAB simulation and applied to the tracking of the two dimen-sional target, and the validity of this method was tested finally.

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