基于视觉反馈的机械臂位置模糊控制

Fuzzy control of robot arm position based on visual feedback

针对传统的机械臂位置控制问题,提出了一种基于视觉反馈的机械臂位置模糊控制方法。该方法模拟人抓取物品的行为,通过视觉反馈判断目标物和机械臂的相对位置,从而决定机械臂的运动方向及速度,实现抓取功能。以三自由度机械臂为研究对象,搭建了二维模糊控制器,结合运动方向判断算法与视觉图像处理,控制机械臂末端运动到目标物所在位置。实验结果表明,该方法控制误差较小且不受机械臂杆长的约束,运算量较小,具有一定的应用前景。

Aiming at the problems in the traditional robotic arm position control,a robot arm position control method based on visual feedback is proposed to simulate the behaviour of a person grasping an object.By visually judging the relative position of the target object and the robotic arm,the movement direction and speed of the robotic arm are determined,realizing grasping function.A two-dimensional fuzzy controller was built,taking a three-degree-of-freedom robotic arm as the research object.By combination with the motion direction determination algorithm and the visual image processing,the end of the robotic arm was controlled to move to the location of the target object.Experimental results show that the method has a small control error and is not constrained by the rod length of robot arm,and it is less computationally intensive than the complex inverse kinematic numerical solution method.It has some application prospects.