摘要
研究了基于图像的视觉伺服机器人系统的控制问题。首先建立了视觉伺服GRB-400机器人的图像雅可比矩阵,然后针对该动态Look and Move系统提出了一种带有模糊自调整能力的分层模型参考自适应控制的设计方法,其特点是设计方法简单并可以在线调节相关参数,给出了闭环系统的阶跃响应实验结果,并与原分层模型参考自适应控制闭环系统的动态性能做了比较,实验证明了改进后的闭环系统具有更好的动态性能。
The image-based visual control system is studied. Firstly, the Image Jacobin Matrix （IJM） for GR13- 400 robot which is a dynamic look and move system has been established. Then, a hierarchical Model Reference Adaptive Control（MRAC） law combined with a fuzzy regulator is proposed to solve the control problem, and the comparison of the experimental step responses between system with fuzzy logic and system without fuzzy regulator is delivered. The experimental results show the feasibility and advantage of the control law proposed.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2006年第4期708-712,共5页
Acta Aeronautica et Astronautica Sinica
基金
国家自然科学基金(60175026)资助项目
