开环和开闭环结合的机器人视觉伺服

Vision Open-loop and Combining Open-loop with Close-loop Robot Visual Servoing

为尽量减小视觉系统采样频率低对视觉伺服动态性能的影响,提出了视觉开环的机器人视觉系统,仅进行一次视觉采样,分析了系统的鲁棒性,并在二自由度机械手上进行了仿真实验研究,0.2秒就完成了调节过程;为进一步提高系统的鲁棒性和消除稳态误差,提出了开闭环结合的视觉伺服系统,仿真结果证明了该方法的有效性。

A vision open-loop visual servoing scheme was proposed in order to decrease the effect to dynamics of visual servoing system as low sample speed of vision system, only one sample in all time, and the robustness was analyzed. Positioning and tracking task was fleetly performed on 2-DOF robot in simulation, it is＂ 0.2s that control is done. To improve robustness and ability of eliminating error of steady state, a visual servoing algorithm combined open-loop with close-loop configuration as a composite controller was proposed. It is of the speediness of open-loop system and the robustness of close-loop system. Simulation results illuminate the validity of the orooosed algorithm.