论文部分内容阅读
在固定相机的监视下,随机位姿的目标物体在双臂系统的控制下执行轨迹跟踪控制任务时,既要考虑目标随机位姿引起的运动学和动力学不确定性问题,还要考虑运动学和动力学的协同问题.针对上述问题,分别采用自适应方法估计目标质心和特征点的位置信息,利用模糊逻辑系统逼近系统的动力学模型,使用分散控制策略处理双臂的协同问题,最后基于位置/力混合控制方法设计基于图像的双臂模糊自适应轨迹跟踪控制器,并采用李亚普诺夫方法证明系统的稳定性.仿真实验验证了所设计控制器的有效性.
Under the surveillance of the fixed camera, when the target of random pose performs the task of trajectory tracking control under the control of the two-arm system, it is necessary to consider the kinematic and kinematic uncertainties caused by the target random pose, Learning and dynamics.According to the above problems, the adaptive method is used to estimate the location information of the target centroid and feature point respectively, the fuzzy logic system is used to approximate the dynamic model of the system, and the decentralized control strategy is used to deal with the cooperative problem of the two arms. Finally, The image-based dual-arm fuzzy adaptive tracking controller is designed based on the position / force hybrid control method, and the Lyapunov method is used to prove the system stability. The simulation results verify the effectiveness of the proposed controller.