一种5自由度视觉伺服机器人的跟踪控制研究

Research on Tracking Control of a 5-DOF Visual Servo Robot

提出了一种基于图像的视觉伺服机器人系统的结构,以及该系统跟踪平面运动目标的算法.该系统有5个自由度,包括一个3自由度的机器人和一个2自由度的手腕,手腕安装在机器人末端,而摄像机安装在手腕末端.由于具有较小的运动惯量,手腕可快速旋转,以实现对运动目标的跟踪.而在需要时,3自由度的机器人可将摄像机移动到适当的位置,对目标进行更为仔细的观察.该系统实现了对运动目标的跟踪.此外,还提出了提高系统性能的方法,实验证实这些方法是有效的.

This paper introduces the architecture of an image-based visual servo robot system and the algorithm implemented to track a target with planar motion. This robot system has 5 degrees of freedom, which consists of a robot with 3 DOFs and a 2-DOF wrist attached to the end of the robot. And, a camera is fixed on the end of the wrist. With low inertia, the wrist rotates quickly to track the target, while the 3-DOF robot moves the camera to an appropriate position to take a close look at the target when needed. The system tracks the target successfully. Furthermore, this paper proposes some approaches to improve the system performance, and the experiments verify them.