摘要
随着消防装备的快速发展,具有高技术含量的消防机器人作为特种装备得到广泛应用。探讨利用自动方式对机器人控制模型的特征点、平行线进行标定测试以提高消防机器人的运行效率,通过对机器人获取信息方式与方法的研究,给出机器人的运动方法。结合这种方法提出优化控制策略,并对视觉伺服控制器进行设计。研究表明:极线几何控制策略的应用可以有效提高消防机器人的运行效率,使机器人尽快运行到预期的位置上。
With the rapid development of fire equipment, fire fighting robot with high technical content as special c-quipment widely used, the article studies on feature points, robot control model of parallel lines using the automatic calibration test, improve the operation efficiency of fire - fighting robot, through the research and the method to the robot gets the mode of information, which gives the method to obtain the motion of robot. Optimization control strategy is proposed based on this method, and the design of visual servo control. Research shows that： application to limit line geometric control strategy can effectively improve the operation efficiency of fire - fighting robot, the robot runs as quickly as possible to the intended position.
出处
《武警学院学报》
2013年第10期94-96,共3页
Journal of the Armed Police Academy
关键词
视觉伺服控制
极线几何
消防机器人
visual servo control
limit line geometric
fire fighting robotic
