摘要
本文针对机器人实时视觉伺服系统,考虑了机器人关节伺服反馈与视觉伺服反馈之间的相互联系,提出了实时控制方案,设计了合理的关节饲服控制器与视觉伺服控制器,以达到改善系统性能的目的。试验结果表明,当采用上述两个控制器时,系统的动静态性能得到了明显的改善。
In this paper, for the real-time robot visual servo system we developed, the relationships between the joint servo feedback loops and the visual servo feedback loops are fully considered. Real-time control schemes for the system are presented. Effective joint servo controllers and visual servo controllers are designed to improve the perform ances of the system. The experimental results have shown that the transient and steady-state performances can be evidently improved when the joint servo controllers and visual servo controllers mentioned above are used.
出处
《控制与决策》
EI
CSCD
北大核心
1991年第5期371-375,共5页
Control and Decision
基金
国家自然科学(高技术)基金
关键词
机器人
实时控制
视觉
伺服系统
robot vision, robot control, feedback control
