摘要
搭建了视觉决策的并联机器人系统,其技术路线是由智能相机通过在线视觉检测算法分割目标,采用张正友标定方法进行相机标定;采用五次多项式插值对机器人的抓取路径进行关节空间轨迹规划;由逆运动学的代数解法求取各轴关节空间坐标。以Delta机器人的运动机构为研究对象,设计了新型的模糊PI控制器,并运用LabVIEW软件结合FPGA实现了机器人的运动控制。测得50组基于模糊PI控制器和PI控制器的上升时间的均值分别为179.6 ms和200.2 ms,试验结果表明,模糊PI具有更快的动态响应过程,同时还兼具了传统PI控制稳态性能好的特点。
A system about the vision-decision of parallel robot is construsted.Its technology roadmap of the work is that the smart camera calibrated by the method presented by Zhang Zhengyou divides target via an online visual detection algorithm,the joint space trajectory planning of the robot＇ s grab path is designed by the quintic polynomial interpolation,the joint space coordinate axes is obtained based on algebraic method of the inverse kinematics.A new fuzzy PI controller is designed with the study of Delta robot movement mechanism,and motion control of the robot is implemented by using LabVIEW software combined with FPGA.The mean rise time of fifty groups respectively based on fuzzy PI controller and PI controller are 179.6 ms and 200.2 ms.The result shows that the fuzzy PI controll has a better dynamic performance,and it also combines the good steady performance characteristics of traditional PI control.
出处
《测控技术》
CSCD
2015年第7期90-93,116,共5页
Measurement & Control Technology
基金
江苏省产学研前瞻性联合研究项目(BY2012056)
