摘要
以分布式系统的原理为结构框架,将四自由度机器人系统和实时图像采集系统有机结合,构成了基于虚拟仪器技术的分布式机器人视觉伺服系统。在推导视觉伺服机器人系统的图像雅克比矩阵的基础上,用LabVIEW语言编写了基于逆模型的控制算法等软件模块,实现了对目标二维运动的跟踪,最后给出了实验结果:采用简单的模糊控制算法,对于100个像素的阶跃激励,系统可在3 s内实现跟踪。
Using the principles of a distributional system as its structural framework, the paper constructs the visual servo system of a distributional robot based on virtual instrument technology which combines the four-DOF robot system with a real-time image acquisition system. Firstly, the image Jacobin Matrix （IJM） for the visual servo robot system is deduced. The software of control algorithm based on an invert model is developed by using LabVIEW language, which can track an object moving in 2-D space. Using a simple fuzzy control algorithm, the visual servo system can track movements of 100 pixels in three seconds.
出处
《机械科学与技术》
CSCD
北大核心
2006年第8期1005-1008,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
广东自然科学基金项目(5010497)
广东省科技计划项目(2005B10201009)
深圳市科技计划项目(200514)
深圳大学科研项目资助
关键词
视觉伺服
分布式
运动跟踪
虚拟仪器
visual servo
distributional
movement tracking
virtual instrument
