软体机器人手眼视觉/形状混合控制

当末端带有相机的连续型软体机器人进行作业时，由于避障、安全性等多方面因素，既需要末端相机－机器人系统的视觉伺服，也需要机器人的整体形状控制．针对这个问题，本文提出了一种软体机器人手眼视觉/形状混合控制方法．该方法无需知道空间特征点的3维坐标，只需给定特征点在末端相机像平面的期望像素坐标和软体机器人的期望形状就可达到控制目的．建立了软体机器人的运动学模型，利用该模型，结合深度无关交互矩阵自适应手眼视觉控制和软体机器人形状控制，提出了一种混合控制律，并用李亚普诺夫稳定性理论对该控制律进行证明．仿真和实验的结果均表明，末端相机特征点像素坐标和形状可以收敛到期望值．

The Hybrid Eye-in-Hand Visual/Shape Control for Soft Robots

For a continuum soft robot with an end camera, the visual servo of the end camera-robot system and the overall shape control of the robot must be considered when performing a task, due to various factors such as obstacle avoidance or security. To solve this problem, a hybrid eye-in-hand visual/shape control method for the soft robot is proposed. This method doesn't require the three-dimensional coordinates of the spatial feature points. The control objective can be achieved given the desired pixel coordinates of the feature points in the end camera plane and the desired shape of the soft robot. The kinematic model of the soft robot is established. Combined with the adaptive eye-in-hand visual control based on the depth-independent interactive matrix and the shape control for the soft robot, a hybrid control algorithm is proposed using the aforementioned kinematic model, and its stability is proved via Lyapunov stability theory. The convergence to the desired value of the pixel coordinates of the feature points in the end camera and the shape is verified through simulations and experiments.