摘要
针对存在驱动饱和约束条件下的视觉机器人，提出了一个系统的跟踪运动目标的实时运动控制方案。该方案完全根据机器人的视觉和关节驱动电动机运行状态的反馈信息，针对跟踪过程不同阶段的要求，采用模糊自适应规则实时地调节机器人运动，从而避免了对机器人运动学和动力学的分析。仿真研究证明了其可行性。
：A rule of real-time motion planning and control for a manipulator to trace a mobile target based on sensitive servo is presented. The rule employs a fuzzy logic adaptive algorithm, according to different characteristics in tracking phases, to modify the motion of the manipulator on-line completely based on the camera images and the performing situation of actuators. So the tedious analysis about robot kinetics and dynamics is avoided. A simulation of 2-DOF planar manipulator demonstrates the feasibility.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2002年第3期24-28,共5页
Journal of Mechanical Engineering
基金
国家计委211工程基金资助项目(2102002001)
