基于切换策略地机器人视觉伺服控制研究.pdf

摘要ⅠI 摘要随着科学技术的飞速发展,机器人的应用领域逐步扩大,现代工业对机器人技术提出更高的要求,而如何在复杂的工作环境下迅速高效地完成视觉伺服任务,很大程度上取决于控制策略的选取。本文针对基于切换策略的机器人视觉伺服控制进行研究,主要完成以下工作: 1、采用基于图像雅克比矩阵的视觉伺服控制策略,以Puma560为机器人模型,在 Matlab/Simulink环境下搭建了机器人视觉伺服仿真系统。机器人视觉伺服系统仿真平台的构建方便了后续控制策略的验证工作。 2、根据视觉伺服任务不同阶段的要求不同,借助混合动态系统理论,设计了两个子控制器和一组切换规则,从而构成基于确定性切换的视觉伺服控制系统。两个子控制器分别为基于单应性矩阵分解的视觉控制器和基于仿射变换的视觉控制器,前者实现精确定位,但计算相对复杂;后者能在离目标物体较远时迅速靠近目标,并且设计简单, 但只能实现机器人的部分位姿。利用确定性切换方法,能充分发挥两个子控制器的优势。 3、为了弥补视觉伺服系统中确定性切换方法的缺陷,利用模糊控制思想,在先前两个子控制器的基础上,设计了两种基于模糊规则切换的视觉伺服控制系统,分别为一维模糊切换系统和二维模糊切换系统。仿真实验表明,两种模糊切换方法均能实现两个子控制器间的平滑切换,并且二维模糊切换控制器比一维模糊切换控制器具有更佳的动态特性。关键词视觉伺服图像雅克比矩阵确定性切换单应性仿射变换模糊切换 Abstract II Abstract With the rapid development of science and technology, the application fieldof robot gradually expanded. Modern industry has put forward higher requirements on the robot technology. How to plish the visual servo task in plex environmentquickly and efficientlydependslargelyonthe select of the control , the research on robot visual servo control based on switching strategiesisthe focus of the article. The main work is as follows. 1. Utilizingthe control strategy based on image jacobian matrix, robot visual servo simulation system was built in Matlab/Simulink environment, where Puma560 was used as robot simulation platform of robot visual servo system is convenient for the following validation work of the control strategies. 2. According to the requirements of visual servo tasks atdifferent stages, two sub-controllers and a set of switching ruleswere designed with the help of the hybrid dynamic system theory, which constitutedthe visual servo control system based on deterministic two sub-controllers are respectively the visual controller based on homography matrix position and the visual controller based on ransformation. The former can achieve accurate positioning, but the calculation is the robot is far from the