基于双目视觉导航的仿生机器人鲁棒控制算法
发布时间：2019-01-22 20:14
【摘要】：仿生机器人在定姿过程中受到空间扰动因素的影响容易产生控制误差,需要对机器人进行精确标定,提高仿生机器人的定位控制精度,因此提出一种基于双目视觉导航的仿生机器人鲁棒控制算法。利用光学CCD双目视觉动态跟踪系统进行仿生机器人的末端位姿参量测量,建立被控对象的运动学模型;以机器人的转动关节的6自由度参量为控制约束参量,建立机器人的分层子维空间运动规划模型;采用双目视觉跟踪方法实现仿生机器人的位姿自适应修正,实现鲁棒性控制。仿真结果表明,采用该方法进行仿生机器人控制的姿态定位时对机器人末端位姿参量的拟合误差较低,动态跟踪性能较好。
[Abstract]:The bionic robot is easily affected by the disturbance of space in the process of attitude determination, so it is necessary to calibrate the robot accurately and improve the positioning control accuracy of the bionic robot. Therefore, a robust control algorithm for bionic robot based on binocular vision navigation is proposed. An optical CCD binocular visual dynamic tracking system is used to measure the terminal position and attitude parameters of a bionic robot, and the kinematics model of the controlled object is established. Taking the six degree of freedom parameter of the robot's rotational joint as the control constraint parameter, the layered subdimensional motion planning model of the robot is established, and the self-adaptive modification of the position and pose of the bionic robot is realized by using the binocular vision tracking method, and the robust control is realized. The simulation results show that the method has lower fitting error and better dynamic tracking performance.
【作者单位】： 合肥学院电子信息与电气工程系;合肥工业大学电气与自动化工程学院;
【基金】：安徽省高校省级自然科学研究重点项目(KJ2015A258)资助
【分类号】：TP242
[Abstract]:The bionic robot is easily affected by the disturbance of space in the process of attitude determination, so it is necessary to calibrate the robot accurately and improve the positioning control accuracy of the bionic robot. Therefore, a robust control algorithm for bionic robot based on binocular vision navigation is proposed. An optical CCD binocular visual dynamic tracking system is used to measure the terminal position and attitude parameters of a bionic robot, and the kinematics model of the controlled object is established. Taking the six degree of freedom parameter of the robot's rotational joint as the control constraint parameter, the layered subdimensional motion planning model of the robot is established, and the self-adaptive modification of the position and pose of the bionic robot is realized by using the binocular vision tracking method, and the robust control is realized. The simulation results show that the method has lower fitting error and better dynamic tracking performance.
【作者单位】： 合肥学院电子信息与电气工程系;合肥工业大学电气与自动化工程学院;
【基金】：安徽省高校省级自然科学研究重点项目(KJ2015A258)资助
【分类号】：TP242
【相似文献】
相关期刊论文 前10条
1 肖红;;基于慧鱼技术的六足昆虫仿生机器人的设计[J];荆门职业技术学院学报;2006年03期
2 王丽慧;周华;;仿生机器人的研究现状及其发展方向[J];上海师范大学学报(自然科学版);2007年06期
3 ;我国研制成功水下微型仿生机器人[J];机械;2010年07期
4 殷悦;马丽;;仿生机器人及其应用[J];黑龙江科技信息;2011年32期
5 宋红生;王东署;;仿生机器人研究进展综述[J];机床与液压;2012年13期
6 ;仿生机器人比赛:贴近生活 创意无限[J];硅谷;2012年14期
7 简小刚;王叶锋;杨鹏春;;基于蚯蚓蠕动机理的仿生机器人研究进展[J];中国工程机械学报;2012年03期
8 林雨W，
本文编号：2413528
本文链接：https://www.wllwen.com/kejilunwen/zidonghuakongzhilunwen/2413528.html
