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针对手眼机器人视觉伺服系统中的末端摄像机速度确定问题,文章采用一般模型法,通过求解最优化控制问题来设计控制器,即摄像机的速度,基于图像误差实现了定位控制,该方法能够使机器人在工作空间内从任一初始位置运动到期望位置,确保了系统全局渐近稳定且不需要物体的几何模型。最后给出的仿真实例表明了本方法的有效性。
In order to solve the problem of determining the speed of the end camera in hand-eye robot vision servo system, a general model method is used to design the controller, ie the speed of the camera, and the positioning control based on the image error by solving the optimization control problem. Moving from any initial location to the desired location in the workspace ensures that the system is globally asymptotically stable and does not require the geometry of the object. Finally, the simulation example shows the effectiveness of this method.