基于位置的机器人视觉伺服控制系统研究

大多数视觉伺服研究中,不考虑机器人的动力学特性,把机器人当作一个理想定位设备。本文考虑其动力学特性,采用基于FNN和CMAC控制器结合kalman滤波对目标运动状态估计的方法,实现了机器人对目标运动的跟踪。并对一个二连杆视觉伺服系统进行了仿真,仿真结果说明了算法的有效性。

Research of robot visual servo control system based on position

Most of the research based on visual servo took on count of dynamics of the robot, regarding the robot as an ideal allocation equipment. This paper have been tied in robotic kinematics and dynamics, adopting method of visual servo controller based on position with FNN and CMAC controller, combined Kalman filter object motion state estimation, and have realized the tracking that the robot moves to the target. To verify the algorithm , emulator result based on two-link robot have been done.