摘要
本文针对存在驱动饱和约束条件下的视觉伺服机器人 ,提出了一种时间最优实时运动规划方法 .该方法根据驱动电机的机械特性和运行状态 ,判断电机的驱动潜力 ,采用自适应模糊逻辑规则实时地调节机器人运动速度 ,在不考虑奇异点等其它因素下实现时间最优运动规划 .
In this paper, a rule of real-time motion planning for visual servo robots due to the limited actuator power is presented. The rule employs a fuzzy logic adaptive algorithm to modify the motion of robots on-line based on the potential of actuators such as a DC motor according to its mechanical character and performing condition. Time-optimal motion is achieved, disregarding the influence of singularity. A simulation of 2-DOF planar manipulator is also presented in this paper.
出处
《机器人》
EI
CSCD
北大核心
2001年第1期26-30,共5页
Robot
基金
211工程资助项目! (2 10 2 0 0 2 0 0 1)
关键词
视觉伺服机器人
运动规划
模糊逻辑
驱动电机
visual servo robot, motion planning, fuzzy logic, actuator saturation, time-optimal
