基于图像的机器人视觉伺服免疫控制

视觉传感器的引入增加了机器人对周围环境的自适应性,拓宽了机器人的应用领域。可以预见,具有视觉的智能机器人将得到越来越广泛的应用。本文根据机器人视觉伺服控制系统的特性利用图像雅可比矩阵的伪逆和免疫控制原理设计了视觉控制器,并将之应用于机器人视觉伺服控制中。两连杆机器人平面视觉跟踪控制仿真结果表明在控制系统的动态调节过程中,PI型免疫控制器的免疫反馈机制能使偏差迅速消除,控制性能优于常规的PID控制器。

Image-based robot Visual servoing immune control

Robot control system with vision sensor can enhance its adaptability to outer environments and extend its application area.It can be forecasted that intelligent robot with vision sense will be applied more and more extensive- ly.Based on the property of robot visual servoing control system,a visual controller is designed using pseudo-inverse of image Jacobian matrix and principle of immune feedback,and applied to robot visual servoing system.2D plane visual tracking experiments were carried out in a two lin...