Mechanical arm dynamic fuzzy approximator based on visual servo system

Abstract

The invention relates to a mechanical arm dynamic fuzzy approximator based on a visual servo system. The visual servo mechanical arm system is composed of a visual servo controller, a visual module, a motion control module, a driving module, a mechanical arm module, a speed and position collecting module and a detecting module; the mechanical arm dynamic fuzzy approximator in the visual servo controller is used for approximating the unknown mechanical arm dynamic state which is subjected to random disturbance; the approximator comprises a fuzzy approximator body and a self-adaption module, the self-adaption module regulates parameters in the fuzzy approximator body on line to enable the error between the output of the fuzzy approximator body and the mechanical arm system to be approximated to always keep within the bounded errors, and the error tends to zero along with time; on the condition that the mechanical arm dynamic characteristics are unknown and are subjected to random disturbance, the stability of the system is guaranteed, and the trajectory tracking precision on an image plane is improved.

Description

technical field [0001] The invention relates to a dynamic fuzzy approximator for a manipulator based on a visual servo system, in particular to the application of the fuzzy system on the visual servo manipulator system. Background technique [0002] Song Jian, president of the Chinese Academy of Engineering, pointed out: "The progress and application of robotics is the most convincing achievement of automatic control in the 20th century, and it is the highest sense of contemporary automation." Robot technology integrates the development results of multiple disciplines and represents the frontier of high-tech development. Its continuous expansion in the field of human life application is causing the international community to re-understand the role and influence of robot technology. The research of robots is the product of the intersection of automatic control, electronic technology, computer technology and artificial intelligence, and represents the development achievement o...

AI Technical Summary

Problems solved by technology

At present, in the above-mentioned visual servo manipulator system, there are several research problems: 1) Most of the current robot vision systems need to calibrate the camera parameters. To solve this problem, the uncalibrated visual servo system can be divided into two types: position-based and image-based. The camera parameters of the former are calibrated through specific scene self-calibration or online calibration, and the latter directly integrate the camera parameters and robot parameters into the Jacobian. matrix, no parameter estimation is required, but whether it is self-calibration of camera parameters, online calibration or estimation of the image Jacobian matrix, it all belongs to the category of visual self-learning. How to improve the self-learning of the visual system will be a cause in the field of robot vision. important research direction

2) In many production, military, and entertainment occasions, the dynamic characteristics of the manipulator change due to time loss or the modified structure and quality of the manipulator. In the case of unknown dynamic characteristics of the manipulator and random interference In this situation, it is difficult to design a controller to control the movement of the robotic arm, and it is even more difficult to ensure the stability of the visual servo system and the final image tracking accuracy

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