| 基于姿态闭环控制的球面并联仿生眼系统设计与研究 |
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| 引用本文： | 李超,谢少荣,李恒宇,缪金松,徐元玉,罗均.基于姿态闭环控制的球面并联仿生眼系统设计与研究[J].机器人,2011,33(3):354-359. |
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| 作者姓名： | 李超 谢少荣 李恒宇 缪金松 徐元玉 罗均 |
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| 作者单位： | 上海大学机电工程与自动化学院,上海,200072 |
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| 基金项目： | 国家863计划资助项目(2007AA04Z225,2009AA04Z211); 国家自然科学基金资助项目(60975068) |
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| 摘 要： | 提出了一种基于姿态反馈的球面并联机构闭环控制方法,有效地解决了该机构输入与输出之间复杂的3维非线性强耦合映射关系给构建闭环系统带来的问题.同时将球面并联机构应用到机器人眼设计上,制作了类似人眼运动特点、比人眼尺寸略大、具有控制和视频信号接口的仿生眼实物;基于数字信号处理器(DSP)的控制系统实现了逆解和闭环控制算法的实...
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| 关 键 词： | 球面并联机构 机器人眼 仿生眼 闭环控制 |
System Design and Study on Bionic Eye of Spherical Parallel Mechanism Based on Attitude Closed-loop Control |
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| LI Chao,XIE Shaorong,LI Hengyu,MIAO Jinsong,XU Yuanyu,LUO Jun.System Design and Study on Bionic Eye of Spherical Parallel Mechanism Based on Attitude Closed-loop Control[J].Robot,2011,33(3):354-359. |
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| Authors: | LI Chao XIE Shaorong LI Hengyu MIAO Jinsong XU Yuanyu LUO Jun |
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| Affiliation: | LI Chao,XIE Shaorong,LI Hengyu,MIAO Jinsong,XU Yuanyu,LUO Jun (School of Mechatronics Engineering and Automation,Shanghai University,Shanghai 200072,China) |
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| Abstract: | An attitude feedback based method for establishing the closed-loop control system of spherical parallel mechanism (SPM)is proposed to circumvent the difficulty caused by the complex,three-dimensional,nonlinear and strongly coupled relationship between the input and output of the mechanism.SPM,then,is employed to the design of bionic eye which emulates the function of human's eye but is bigger than it in size,and incorporates the interface of the signal of control and video.In addition,the real-time online c... |
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| Keywords: | spherical parallel mechanism(SPM) robot eye bionic eye closed-loop control |
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