| 机器人实时视觉伺服系统控制方案的研究 |
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| 引用本文： | 曹柏林,陈辉堂.机器人实时视觉伺服系统控制方案的研究[J].控制与决策,1991,6(5):371-375. |
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| 作者姓名： | 曹柏林 陈辉堂 |
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| 作者单位： | 西安交通大学自控教研室，同济大学 710049 |
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| 基金项目： | 国家自然科学(高技术)基金 |
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| 摘 要： | 本文针对机器人实时视觉伺服系统,考虑了机器人关节伺服反馈与视觉伺服反馈之间的相互联系,提出了实时控制方案,设计了合理的关节饲服控制器与视觉伺服控制器,以达到改善系统性能的目的。试验结果表明,当采用上述两个控制器时,系统的动静态性能得到了明显的改善。
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| 关 键 词： | 机器人 实时控制 视觉 伺服系统 |
Research on Control Schemes for a Real-time Visual Servo System of Robot Manipulators |
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| Cao Bailin Chen Huitang.Research on Control Schemes for a Real-time Visual Servo System of Robot Manipulators[J].Control and Decision,1991,6(5):371-375. |
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| Authors: | Cao Bailin Chen Huitang |
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| Affiliation: | Cao Bailin Chen Huitang(Xian Jiaotong University) (Tongji University) |
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| Abstract: | In this paper, for the real-time robot visual servo system we developed, the relationships between the joint servo feedback loops and the visual servo feedback loops are fully considered. Real-time control schemes for the system are presented. Effective joint servo controllers and visual servo controllers are designed to improve the perform ances of the system. The experimental results have shown that the transient and steady-state performances can be evidently improved when the joint servo controllers and visual servo controllers mentioned above are used. |
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| Keywords: | robot vision robot control feedback control |
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