【作者】 史国振； 孙汉旭； 程时端； 贾庆轩； 张延恒； 吴凡；

【Author】 SHI Guo-zhen, SUN Han-xu, CHENG Shi-duan, JIA Qing-xuan, ZHANG Yan-heng, WU Fan ( School of Computer Science and Technology, Beijing University of Posts and Telecommunications, Beijing 100876, China; Electronics Engineering Department, Beijing Electronic Science and Technique Institute, Beijing 100071, China; School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China; School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China)

【机构】 北京邮电大学计算机科学与技术学院； 北京邮电大学自动化学院； 北京航空航天大学机械工程与自动化学院；

【摘要】 针对手眼伺服空间机器人系统自主控制中,视觉反馈和控制算法的运算时间造成大时滞现象对系统控制的影响,提出了基于Smith预估补偿的优化机器人视觉伺服控制方法．利用手眼反馈和关节返回的信息估计实际情况下当前机械臂末端与目标的相对位姿,进行机器人的控制．同时根据空间机器人的具体情况,提出了固定视觉反馈时滞的方法,对系统进行了简化．该方法可消除系统的大时滞对系统控制的影响,提高系统控制的实时性、稳定性和精度．模拟实验仿真结果验证了该方法的有效性．更多还原

【Abstract】 To avoid the effect of time-lag caused by the vision-feedback and control algorithmic in eye-hand space robot servo system running in self-determined model, the Smith-estimate-compensate control algorithmic is presented. Using the information fed back from the eye-hand controller and joints, the relative position and pose between the target and the tip of manipulator are estimated, then control is made. Furthermore, according to the features of space robot control, the fixed time-lag mechanism is introduced to simplify the control algorithmic. This algorithmic can avoid the effect of the time-lag and optimize the capability of the system, such as real-time ability,stability and precision. The simulating experiment results illustrate the validity of the algorithmic.更多还原