基于模糊控制的机器人视觉伺服控制

Robot Visual Servo Control Based on Fuzzy Control

机器人视觉伺服控制是当今机器人研究领域的热点之一,以往的各种传统控制方法均是建立在被控对象精确模型的基础上,然而随着系统复杂程度的提高,将难以建立系统的精确数学模型。模糊控制直接依据人类专家的控制经验进行设计,其设计不依赖于被控对象的模型,机器人视觉伺服系统就是难以建立精确数学模型,为此利用模糊控制来克服机器人视觉伺服系统的复杂性、强耦合性、不确定性和非线性因素的影响,实验结果表明,利用模糊控制可以使机器人视觉伺服控制达到较好控制效果。

Robot visual serve control is one hotspot of robotics research,A variety of traditional control methods are established on the basis of previous precise model of the controlled object,but as the system complexity,it will be difficult to establish accurate mathematical model of the system.Fuzzy control based on control experience of haman experts to design directly, its design does not rely on the controlled object model,Robot visual serve system is difficult to establish a precise mathematical model,for which the use of fuzzy control to overcome the complexity of the robot visual serve system,the impact of strong coupling,uncertainty and nonlinear factors,Experimental results show that the fuzzy control allows the robot visual serve control to achieve better control effect.