基于规定性能的六自由度机械臂视觉伺服控制  

Six-degree-of-freedom manipulator visual servo control based on prescribed performance

作　　者：王大浩 平雪良 WANG Dahao;PING Xueliang(Key Laboratory of Advanced Food Manufacturing Equipment and Technology of Jiangsu Province,School of Mechanical Engineering,Jiangnan University,Wuxi 214122,China)

机构地区：[1]江南大学机械工程学院江苏省食品先进制造装备技术重点实验室,江苏无锡214122

出　　处：《传感器与微系统》2022年第3期104-108,共5页Transducer and Microsystem Technologies

摘　　要：针对六自由度手眼机器人系统,提出了一种新的基于图像的视觉伺服方法,该方法对图像特征坐标误差施加规定的瞬态和稳态响应,满足了由于相机视场(FOV)限制而产生的可见性约束。关键思想是提供一个误差转换,将相机视野限制可视化为误差范围,在此基础上提出规定性能函数并设计控制器,然后,证明控制器的稳定性足以满足规定的性能保证和固有的可见性约束。最后,在MATLAB平台进行仿真,验证了控制系统的可行性。For six-degree-of-freedom hand-eye robot system,a new image-based visual servo scheme is proposed.The scheme imposes specified transient and steady-state response on the image feature coordinate error,which meets visibility constraints resulting from the limitations of field of view(FOV)of camera.The key idea is to provide an error conversion that visualizes of FOV of camera limitation as an error range.On this basis,a specified performance function is proposed and the controller is designed,and then it is proved that the stability of the controller is sufficient to meet the specified performance guarantee and inherent visibility constraints.Finally,a simulation is carried out on the MATLAB platform to verify the feasibility of the control system.

关 键 词：视觉伺服 视场约束 规定性能 手眼系统 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]