【摘要】 建立了GRB-400单目视觉伺服机器人的图像雅可比矩阵,针对此动态双环系统设计了控制算法使视觉伺服闭环运动控制系统稳定.根据视觉伺服闭环运动控制系统的需要,提出了最速下降法与惩罚函数法相结合的平面规划方法,在机器人的视界内解决一定时间内最小能量的路径规划问题.仿真与实验结果表明,机器人根据在其视觉范围内的目标物体的位置即可采用上述方法确定优化的路径.更多还原

【Abstract】 The Jacobin matrix for images of a GRB-400 visual servo robot was derived. A controlalgorithm was designed to achieve a stable control strategy for dynamic double-loop feedback motioncontrol of the visual servo robot. Adirectplanar path planning method for the robotwas proposed based on the combination of steepest descent method and punishment function method to solve the least-energy cost path planning problem with time constraint. Simulation and experiment results show that the robot can determine an optimal path by applying the proposed method whenever objects or obstaclesare within the visual scope of the robot.更多还原