【摘要】 主要就机器人视觉伺服控制系统中的自适应深度估计问题进行了研究,对基于李亚普诺夫直接设计方法构造的深度估计自适应控制方法进行了可控性及稳定性分析,结果证明系统在自适应控制规律作用下能够渐进稳定。针对GRB-400四自由度机器人视觉伺服系统进行了仿真,仿真结果说明了算法的有效性。更多还原

【Abstract】 A novel adaptive visual feedback scheme was presented to solve the problem of controlling the relative pose between a robot camera and an object of interest.The visual servo system was proved to be asymptotic stable by using the Lyapumov direct method,and uniform boundedness of the whole state vector was ensured by using an adaptive nonlinear control scheme,in case of unkown object depth.The simulation results with a 4-DOF GRB-400 robot manipulator demonstrate the validity of the algorithms.更多还原