【摘要】 提出了一种改进Smith预估器的模糊自适应PID显微视觉伺服控制策略.该策略用于改善视觉伺服系统的控制品质.针对视觉迟延问题,建立了视觉伺服系统的分时模型.在对基于位置的动态"look and move"视觉伺服系统特性分析的基础上,建立了基于改进的Smith预估器的模糊自适应PID控制的视觉伺服系统结构.在微操作机器人平台上进行了微小零件的自动定位与抓取实验.实验与仿真结果表明,提出的视觉控制结构的伺服系统具有很好的控制品质,满足微操作应用要求.更多还原

【Abstract】 A micro-vision servo control strategy based on fuzzy adaptive PID(propotional integral derivative) with a modified Smith predicator is proposed,which improves the quality control of visual servo system.For the vision delay,a timing modeling of visual servoing system is built.According to analysis for the position-based dynamic look and move control scheme,build the visual servo control structure based on the improvement Smith′s fuzzy adaptive PID control.The experiments of automatic positioning and gripping micro objects have been operated in the micromanipulation robotic platform.The experiments and simulations show that the vision control system with the proposed control scheme has better dynamic performance,which meets the requirements of micromanipulation.更多还原