基于极线几何的机器人模糊滑模视觉伺服  

Fuzzy Sliding Mode Visual Servo for Robots Based on Epipolar Geometry

作　　者：范昭君[1] 辛菁[2] 

机构地区：[1]陕西国防工业职业技术学院机电工程学院,陕西西安710300 [2]西安理工大学自动化与信息工程学院,陕西西安710048

出　　处：《机床与液压》2015年第3期43-46,103,共5页Machine Tool & Hydraulics

基　　金：陕西省自然科学研究基金(2009JQ8011)

摘　　要：从控制的角度出发,针对基于极线几何的机器人视觉伺服问题,设计了模糊滑模控制器,通过建立合适的模糊规则库,有效地削弱或减小抖振现象,同时提高系统的鲁棒性和快速性。机器人6DOF视觉定位仿真实验表明该方法的有效性和可行性。From the point of view of control, the fuzzy sliding mode controller was designed in order to solve servo problem of ro- bot visual based on epipolar geometry. By establishing appropriate fuzzy rule base, buffeting phenomena were effectively weakened or reduced. Simultaneously the robustness and quickness of the system were improved. The effectiveness and feasibility of this approach is tested with the 6-DOF robot of visual positioning simulation.

关 键 词：极线几何 机器人 模糊滑模控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]