| 视觉和超声信息的融合与机器人伺服控制的研究 |
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| 引用本文： | 陈维明,陈维南.视觉和超声信息的融合与机器人伺服控制的研究[J].机器人,1994,16(1):8-13. |
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| 作者姓名： | 陈维明 陈维南 |
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| 作者单位： | 东南大学自动化研究所，清华大学智能技术和系统实验室 |
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| 摘 要： | 本文对视觉和超声信息的融合与机器人的伺服控制进行了研究。通过视觉和多超声传感器信息的融合确定了工作平面上的物体在空间的位姿，并结合机器人的伺服控制选择了物体的特征向量，推导了物体特征向量的微分变化。基于这一微分变化，本文提出了改进型的最优控制算法。并对其稳定性进行了证明，仿真实验表明该控制算法效果良好，切实可行。
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| 关 键 词： | 机器人 传感器 伺服控制 视觉 |
RESEARCH ON THE FUSION OF VISION AND ULTRASONIC SENSORS AND THE SERVO CONTROL OF ROBOTS |
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| CHEN Weiming, CHEN Weinan, FENG Chunbo.RESEARCH ON THE FUSION OF VISION AND ULTRASONIC SENSORS AND THE SERVO CONTROL OF ROBOTS[J].Robot,1994,16(1):8-13. |
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| Authors: | CHEN Weiming CHEN Weinan FENG Chunbo |
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| Abstract: | In this paper some research work on the fusion of vision and ultrasonic sensors and the servocontrol of robots has been conducted. Through the fusion the position and orientation of objects on a workingplane is determined, some of the object features are selected to form a feature vector with regard to the servocontrol of robots, and the differential change of the vector is derived.Based on the differential change,amodified optimum control algorithm is proposed,and its stability is proved.Simulation results show that theproposed algorithm is effective and practical. |
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| Keywords: | robot sensor fusion servo control |
| 本文献已被 CNKI 维普 等数据库收录！ |
