基于视觉反馈机器人的yoyo运动控制

Robotic yoyo Motion Control with Visual Feedback

提出了一个根据yoyo状态决定机器人动作时间的开关控制策略,并分析了和原连续系统相关的离散返回映射及其不动点的稳定性.理论分析表明,只要保证加速度大小的控制参数维持在一定水平之上,就可以保证其不动点的稳定性.在一个实时机器人的yoyo操作系统上成功地验证了所提出控制算法的稳定性,以及关于返回映射不动点的理论分析结果.

The switching control strategy proposed here stabilizes the yoyo by determining when to start its activation. The discrete return map associated with the original continuous system was analyzed and shown to possess a single physically relevant fixed point. Stability is guaranteed as long as the control parameter, which determines the magnitude of the acceleration, is above a certain level. The stabilizing power of the proposed control algorithm is successfully demonstrated on a real-time robotic yoyo playing system. Theoretical predictions regarding the fixed point of the return map are confirmed experimentally.