机器人视觉动态目标跟踪的最优控制算法研究

A Control Algorithm for Robot Vision System Tracking a Moving Target

带有视觉导引的机器人系统在工业生产中，在航空航天中有着越来越广泛且重要的应用．本文研究了带视觉系统的Eye－in-Hand型机器人系统对运动目标进行跟踪的视觉伺服控制问题，讨论了一种距离参数在线估计条件下的最优控制算法，设计了一种时变加权矩阵策略，对解决控制中稳态误差和超调量之间的矛盾有较好的效果．利用PUMA560机器人实际取得的参数进行仿真研究，结果表明，采用此控制算法，Eye-inHand型机器人系统对静态目标的定位，对匀速直线运动目标、变速直线运动目标及曲线运动目标的跟踪，可达到较快的响应和较好的精度．

An optimal control algorithm for Eye-in-Hand robot vision system to track a moving moving is researched. The algorithm does not require accurate knowledge of the relative distance. A kind of bine-yareing weight matrix is designed. It is effective to deal with the contradiction between the over-shoot and the static error. Data derived from PUMA560 is used to do simulations. The results show that for locating and tracking various types of inchons, the performances of the system is good.