基于双目视觉的双臂模糊轨迹跟踪控制

Binocular Vision Based on Fuzzy Trajectory Tracking Control for Dual-arm System

在双目视觉系统的监视下,双臂系统夹持目标执行视觉轨迹跟踪任务。随意的目标夹持姿态引起的动力学不确定性会影响控制性能,尤其目标质量较大时。因此,该文在控制器设计中引入模糊系统来逼近系统的动力学特征。同时,采用分散控制策略解决双臂系统的运动学和动力学协同问题,然后在位置/力混合控制的框架下设计了基于双目视觉的双臂模糊轨迹跟踪控制器。最后,通过仿真证明了控制器的有效性。

The object held by a dual-arm system is to perform a visual trajectory tracking task in the monitoring of a binocular vision system.The control performance should be degraded by the dynamics uncertainties generated from the random holding manner,especially when the object with large mass.As a result,the fuzzy system is then introduced to approximate the dynamics characteristic.At the same time,the decentralized control method is used to address the cooperation between the dual arms,and the binocular vision based fuzzy trajectory tracking controller for dual-arm system is designed based on position/force hybrid control framework.Finally,the effectiveness of the proposed controller is verified in simulation.