未标定视觉伺服系统的动力学控制

摘要

针对具有动力学不确定性的未标定机器人视觉伺服系统，通过在机器人末端操作器上选取多个特征点，设计了一个基于机器人动力学的关节力矩控制器，使得特征点在图像平面上收敛到其期望值。首先，分别基于不含深度信息的图像雅可比矩阵和一组适当选取的机器人动力学参数，建立了摄像机和机器人动力学的线性参数模型。然后，在此基础上，进一步设计了摄像机和机器人动力学参数的在线自适应更新律，分析了系统的稳定性。最后，在一个三关节机械臂上进行了仿真实验，实验结果验证了该控制方案的良好控制效果。%For an uncalibrated visual servoing system with dynamic uncertainties of a robot ,a joint torque controller was designed based on robot dynamics by selecting several feature points on the end‐effector , which made the selected feature points converge to their desired positions on the image plane .On the basis of a depth‐independent image Jacobian matrix and a set of robot dynamics parameters properly selected , linear parametric models of the camera and robot dynamics were established .Then ,the online adaptive updating laws the camera parameters and the robot dynamics parameters were designed ,and the stability of the closed‐loop system was analyzed .Finally ,simulation experiments on a three joint manipulator show good performance of the control scheme .