机械臂视觉伺服路径规划研究进展  

Research progress of path planning for visual servoing of robotic manipulator

作　　者：任秉银[1] 魏坤[1] 吴卓琦[2] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《哈尔滨工业大学学报》2018年第1期1-10,共10页Journal of Harbin Institute of Technology

摘　　要：视觉伺服控制是机械臂完成各种复杂作业任务的有效手段,而机械臂在动态非结构环境下自主作业的路径规划方法是视觉伺服控制领域的难点和关键.分析了动态非结构环境下视觉伺服路径规划中存在的两类约束及其处理方法,介绍并评述了国内外在机械臂视觉伺服控制中路径规划方面的相关研究进展,讨论并分析了不同路径规划方法在收敛性和稳定性等方面存在的不足,对未来的研究方向进行了展望.Visual servoing control is an effective means for robotic manipulator to complete complex tasks and the path planning method of the robotic manipulator autonomous operation in dynamic unstructured environment is the difficulty and key in the field of visual servoing control. Two types of constraints that exist in the visual servoing path planning in dynamic unstructured environment and the processing methods of constraints are analyzed. The relevant research progresses of path planning in visual servoing control of robotic manipulator at home and abroad are reviewed,and the deficiencies in convergence and stability of different methods of path planning are also analyzed.The future research direction is prospected based on current research progress.

关 键 词：机械臂 视觉伺服 路径规划 约束 动态非结构环境 不确定性 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]