基于ESO的分拣并联机器人无标定视觉伺服自适应滑模控制  

ESO Based Uncalibrated Visual Servo Adaptive Sliding Mode Control for Sorting Parallel Robot

作　　者：黄子豪 高国琴[1] HUANG Zihao;GAO Guoqin(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学电气信息工程学院,镇江212013

出　　处：《自动化与仪表》2024年第10期76-80,90,共6页Automation & Instrumentation

基　　金：国家自然科学基金项目(51375210);镇江市重点研发计划项目(GZ2018004)。

摘　　要：针对无标定分拣并联机器人需获取精确图像雅可比矩阵的问题,同时为克服图像检测误差、建模误差及外部干扰对无标定视觉伺服系统的影响,提出一种基于扩张状态观测器(extended state observer,ESO)的分拣并联机器人无标定视觉伺服自适应滑模控制方法。通过将表征机器人图像空间与任务空间映射关系的图像雅可比矩阵与系统不确定项集总到同一通道的状态方程,引入ESO对分拣并联机器人视觉伺服系统的集总不确定性进行在线估计,设计一种基于扩张状态观测器的自适应积分滑模控制器,并通过设计自适应律动态调整滑模控制切换增益,以提高视觉伺服系统精度,同时达到抑制滑模控制抖振的效果。采用Lyapunov稳定性理论证明该控制方法的稳定性,最后通过仿真实验验证了所提出视觉伺服自适应滑模控制方法的可行性和有效性。To address the issue of obtaining an accurate image Jacobian matrix for uncalibrated sorting parallel robots,and to overcome the impact of image detection errors,modeling errors,and external disturbances on the uncalibrated visual servo system,an adaptive sliding mode control method based on an extended state observer(ESO)is proposed for uncalibrated visual servo of sorting parallel robots.By integrating the image Jacobian matrix that characterizes the mapping relationship between the robot’s image space and task space,and the system uncertainties into the state equation of the same channel,the ESO is introduced to online estimate the aggregated uncertainty of the sorting parallel robot’s visual servo system.An adaptive integral sliding mode controller based on the extended state observer is designed,and the sliding mode control switching gain is dynamically adjusted through the design of an adaptive law,aiming to improve the accuracy of the visual servo system while suppressing the chattering effect of sliding mode control.The stability of the control method is proved using Lyapunov stability theory,and finally,the feasibility and effectiveness of the proposed visual servo adaptive sliding mode control method are verified through simulation experiments.

关 键 词：分拣并联机器人 视觉伺服 ESO 自适应 滑模控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]