节点文献
模糊逆运动学控制方法在机器人视觉伺服中的应用
A Fuzzy Inference Resolved Motion Rate Control for a Visual Servo Robot
【摘要】 文章主要研究了基于图像的视觉伺服机器人系统的控制问题,首先构建了基于TCP/IP分布式视觉伺服机器人LookandMove系统,然后推导了视觉伺服GRB-400机器人的图像雅可比矩阵,最后针对该动态LookandMove系统提出了一种带有模糊自调整能力的逆运动学控制的设计方法,其特点是设计方法简单并可以在线调节相关参数,给出了闭环系统的阶跃响应实验结果,并与原逆运动学控制闭环系统的动态性能作了比较,实验证明了改进后的闭环系统具有更好的动态性能。
【Abstract】 The image-based visual control system is studied. Firstly, the distributed visual servo system based on TCP/IP which is a dynamic look and move system has been established. Then, the Image Jacobin Matrix for GRB-400 robot is built. Finally, a resolved motion rate control law combined with a fuzzy regulator is proposed to solve the control problem, and the comparison of the experimental step responses between system with fuzzy logic and system without fuzzy regulator is delivered. The experimental results show the feasibility and advantage of the control law proposed.
- 【文献出处】 组合机床与自动化加工技术 ,Modular Machine Tool & Automatic Manufacturing Technique , 编辑部邮箱 ,2005年07期
- 【分类号】TP242.62
- 【被引频次】4
- 【下载频次】180