摘要
介绍了一种新颖的、未标定机械臂在视觉引导下的寻迹控制策略。在视觉提供手爪的精确位姿条件下,利用欧拉角特性代替非线性的运动学反解计算,不仅简化了控制环节、提高了控制鲁棒性,同时也符合人类视觉操作的工作模式。为服务型机器人的应用发展指出了一个全新的研究思路。
A novel trajectory control strategy of an uncalibrated manipulator of a robot based on visual guidance is introduced. By means of the precise position and pose measured by visual system, the nonlinear kinematics anti-calculated should be substituted utilizing the Euler angles. Besides simplified controls, improved control robustness, this method is also consistent with the operation of the human visual work patterns. It provides a new research idea for the development of the applications of service-like robots.
出处
《机械制造与自动化》
2006年第6期25-28,共4页
Machine Building & Automation
关键词
路径规划
未标定机械臂
视觉
位姿
trajectory planning
uncalibrated manipulator
visual
position and pose
