| 模糊逆运动学控制方法在机器人视觉伺服中的应用 |
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| 引用本文： | 钟金明,徐刚,张海波.模糊逆运动学控制方法在机器人视觉伺服中的应用[J].组合机床与自动化加工技术,2005(7):48-51. |
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| 作者姓名： | 钟金明 徐刚 张海波 |
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| 作者单位： | 1. 深圳大学,工程技术学院,广东,深圳,518060
2. 南京航空航天大学,能源与动力工程学院,南京,210016 |
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| 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Look and Move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Look and Move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.
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| 关 键 词： | 视觉伺服 机器人 逆运动学控制 模糊 |
| 文章编号： | 1001-2265(2005)07-0048-04 |
| 修稿时间： | 2005年3月17日 |
A Fuzzy Inference Resolved Motion Rate Control for a Visual Servo Robot |
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| ZHONG Jin-ming,XU Gang,ZHANG Hai-bo.A Fuzzy Inference Resolved Motion Rate Control for a Visual Servo Robot[J].Modular Machine Tool & Automatic Manufacturing Technique,2005(7):48-51. |
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| Authors: | ZHONG Jin-ming XU Gang ZHANG Hai-bo |
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| 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. |
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| Keywords: | visual servo robot resolved motion control fuzzy logic |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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