基于图像的双臂模糊自适应轨迹跟踪控制  

Image based fuzzy adaptive trajectory tracking control for dual-arm system

作　　者：王勇[1,2] 刘治 WANG Yong LIU Zhi(School of Automation, Guangdong University of Technology, Guangzhou 510006, China Center of Education Technology, Guangdong University of Foreign Studies, Guangzhou 510420, China)

机构地区：[1]广东工业大学自动化学院,广州510006 [2]广东外语外贸大学教育技术中心,广州510420

出　　处：《控制与决策》2017年第6期1019-1025,共7页Control and Decision

基　　金：国家自然科学基金项目(61573108)

摘　　要：在固定相机的监视下,随机位姿的目标物体在双臂系统的控制下执行轨迹跟踪控制任务时,既要考虑目标随机位姿引起的运动学和动力学不确定性问题,还要考虑运动学和动力学的协同问题.针对上述问题,分别采用自适应方法估计目标质心和特征点的位置信息,利用模糊逻辑系统逼近系统的动力学模型,使用分散控制策略处理双臂的协同问题,最后基于位置/力混合控制方法设计基于图像的双臂模糊自适应轨迹跟踪控制器,并采用李亚普诺夫方法证明系统的稳定性.仿真实验验证了所设计控制器的有效性.When a target object with random orientation grasped by a dual-arm system carries out a trajectory tracking task under the sight of a fixed camera, not only the uncertainties in kinematics and dynamics generated from random orientation of the target object should be taken into consideration, but also the cooperation in kinematics and dynamics does. To address such problems, the adaptive method is adopted to estimate the position information of the mass center and feature points, the fuzzy logic system is used to approximate the unknown dynamics model, and the decentralized method is utilized to cope with the cooperation problem for dual-arm. The image based fuzzy adaptive trajectory tracking controller for the dual-arm system is designed on the basis of the position/force hybrid control method, and the system stability is rigorously proved by using Lyapunov method. Finally, the effectiveness of the proposed controller is demonstrated in the simulation of trajectory tracking.

关 键 词：视觉伺服 双臂系统 协同控制 轨迹跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]