【摘要】 文章以4自由度GRB-400工业机器人为研究对象,采用CORECO图像采集系统,构建了基于图象的视觉伺服控制系统。先推导了GRB-400机器人系统图像雅克比矩阵,然后针对该视觉伺服控制系统设计了一种模型跟踪变结构控制器,并给出了闭环系统的稳定性及结构参数鲁棒性分析。最后通过实验结果验证了该滑模变结构控制器具备良好的鲁棒自适应及抗干扰能力。更多还原

【Abstract】 This article provides an introduction to the image-based visual servo system of four-dof GRB-400 robotic combined with CORECO fast image acquisition and processing system. Firstly, the Image Jacobin Matrix for GRB₄00 robot has been established. And then, sliding mode variable structure control are designed to solve visual problem. The image-based visual system is stability by sliding mode control, which ensures asymptotic stability assuming exact model and state measurements. Finally, the results of experiment validate the theoretical framework both in terms of system convergence and control robustness.更多还原