基于图像的PUMA560机器人视觉伺服控制分析

Analyses of visual servo control system of PUMA560 robot based on image plane

为了较好地解决PUMA560机器人视觉伺服控制系统中的控制精度问题,提出一种基于图像的自适应视觉伺服控制策略.该控制策略以机器人运动学与动力方程、参数估计以及控制器的设计为基础.新型控制器能够在机器人运动的同时,在线估计雅可比矩阵和摄像机相对机器人末端的变换矩阵中的未知参数,并进行稳定性分析.仿真与试验结果表明,该新型控制器使系统具有较强的动态特性和稳态特性,可得到理想的控制效果.

In order to solve the problem of the control accuracy of visual servo control system of PUMA560 robot, a kind of image-based adaptive visual servo control strategy was presented. The control strategy was based on robot kinematics and dynamic equation as well as on the parameter estimation and design of controller. The unknown parameters of task＇s Jacobian matrix and those in the transforming matrix from the camera to the end of the robot could be on-line estimated by the new controller in the process of robot movement. Meantime, the system stability was also analyzed. The simulation and experiment result showed that, by using this controller, the dynamic and steady-state characteristics of the system were made robust, so that an ideal control effect could be achieved.