基于任务空间的无标定视觉机械臂自适应跟踪控制

Adaptive task-space tracking control for uncalibrated eye-to-hand systems with dynamic uncertainties

针对动力学参数不确定的无标定视觉机械臂系统,研究基于任务空间的自适应控制问题.对于控制器的设计,首先研究机械臂动力学参数不确定情况下基于任务空间的控制问题,然后设计自适应摄像机标定控制器,最后根据任务空间信息和图像空间信息的一致收敛关系统一两部分控制器,设计整个闭环系统控制信号和自适应控制律.实验结果表明了所提出的控制方法的有效性.

In this paper,an adaptive task-space tracking control approach is designed by using the error caused by manipulator’s dynamic uncertainties and unknown camera calibration parameters.Due to the different uncertainties,the input signal of controller is designed in two steps.Firstly,an adaptive task-space tracking controller is designed to compensate the robotic dynamic uncertainty.Then,an adaptive camera calibration controller is established to ensure bounded image-space tracking error.Finally,an uniform controller is combined by using the errors in both image-space and task-space.Results of experiments show the effectiveness of the proposed method.