卡尔曼滤波与模糊逻辑结合的机械手视觉伺服控制方法研究

Research On Visual Servo Control Method of Manipulator Based On Kalman Filter and Fuzzy Logic

针对传统视觉伺服控制方法中视觉伺服控制系统收敛速度慢,需要相机标定等不足,提出了一种基于模糊逻辑与卡尔曼滤波相结合的视觉伺服控制方法。该控制方法使用卡尔曼滤波算法在线估计图像雅可比矩阵,使用模糊逻辑控制算法设计可变的控制系数代替传统的固定控制系数,不仅减少了视觉伺服控制系统的收敛时间,还避免了复杂的相机标定工作,节省了大量的时间,提高了工作效率。最后,通过MATLAB仿真对比实验对所提出的控制方法的有效性与优越性进行了验证。

In order to overcome the shortcomings of traditional visual servo control methods, such as slow convergence speed and camera calibration, a new visual servo control method based on the combination of fuzzy logic and Kalman filter is proposed. In this control method, Kalman filter algorithm is used to estimate image Jacobian matrix online, and fuzzy logic control algorithm is used to design variable control coefficient instead of traditional fixed control coefficient, which not only reduces convergence time of visual servo control system, but also avoids complex phase machine calibration, saves a lot of time and improves work efficiency. Finally, the effectiveness and superiority of the proposed control method are verified by MATLAB simulation.