基于双目视觉导航的仿生机器人鲁棒控制算法

摘要

仿生机器人在定姿过程中受到空间扰动因素的影响容易产生控制误差,需要对机器人进行精确标定,提高仿生机器人的定位控制精度,因此提出一种基于双目视觉导航的仿生机器人鲁棒控制算法.利用光学CCD双目视觉动态跟踪系统进行仿生机器人的末端位姿参量测量,建立被控对象的运动学模型;以机器人的转动关节的6自由度参量为控制约束参量,建立机器人的分层子维空间运动规划模型;采用双目视觉跟踪方法实现仿生机器人的位姿自适应修正,实现鲁棒性控制.仿真结果表明,采用该方法进行仿生机器人控制的姿态定位时对机器人末端位姿参量的拟合误差较低,动态跟踪性能较好.%In the course of pose determination,the bionic robot is prone to generate control errors due to the influence of spatial perturbation factors.Accurate calibration of robots is required,and the positioning accuracy of bionic robot need to be improved.A robust control algorithm of bionic robot based on binocular vision navigation was proposed.The optical CCD binocular vision dynamic tracking system is used to measure the terminal position and orientation parameters of the bionic robot.The kinematic model of the controlled object is established.Taking the 6 degree of freedom parameter in the rotational joint of a robot as the control constraint paramater,a hierarchical space motion planning model of robot is established.The binocular vision tracking method is used to realize the adaptive correction of the position and orientation of the bionic robot,and robust control is achieved.Simulation results show that when appling the method to position control of biomimetic robot,the fitting error of robot end position parameters is low,and the performance of dynamic tracking is better.