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Bionic eye, bionic eye robot, and trajectory tracking method and device based thereon

A trajectory tracking and bionic eye technology, applied in the field of bionic eyes, can solve problems such as the poor effect of bionic eye robots, and achieve the effects of poor resolution and low energy consumption

Active Publication Date: 2021-02-12
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0005] The main purpose of this application is to provide a bionic eye, a bionic eye robot, and a trajectory tracking method and device based on it, so as to solve the problem of poor results in the processing method of the bionic eye robot

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Embodiment Construction

[0045] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0046] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for...

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Abstract

The invention discloses a trajectory tracking method and device based on a bionic eye robot, bionic eyes and the bionic eye robot. The trajectory tracking method based on the bionic eye robot comprises the steps that according to the bionic eye robot, a liner model is established; based on the liner model, a full-state feedback control system is established; in the full-state feedback control system, based on an expected value of a preset trajectory and an expected value of a preset joint angle, the angle and angular acceleration which are required by the joint in the bionic eye target tracking process are obtained; the method further comprises the steps that an LQR linear-quadratic optimal controller is adopted for calculating a parameter K in the full-state feedback control system, and by establishing an energy function, energy consumption is minimized, so that the head-eye coordinated movement of the linear bionic eyes is in optimal control, and the parameter K is a system parameter. According to the trajectory tracking method, the technical problem of a poor effect of a processing method for the bionic eye robot is solved. Through the trajectory tracking method, head-eye coordination of the multi-degree-of-freedom linear bionic eyes is achieved for target tracking, and optimal control over target tracking is achieved.

Description

technical field [0001] The present application relates to the field of bionic eyes, in particular, to a trajectory tracking method and device based on a bionic eye robot, a bionic eye, and a bionic eye robot. Background technique [0002] For bionic robots, the coordinated motion control of the head and eyes is conducive to the ability of bionic eyes to obtain visual information from a wider angle. [0003] The inventors found that the method for obtaining the tracking effect of the bionic eye robot and how to achieve the optimal control of target tracking is not effective. [0004] Aiming at the problem of poor effect in the processing method of the bionic eye robot in the related art, no effective solution has been proposed yet. Contents of the invention [0005] The main purpose of the present application is to provide a bionic eye, a bionic eye robot, and a trajectory tracking method and device based thereon, so as to solve the problem of poor results in the processin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664
Inventor 陈晓鹏兰昆艳黄强余张国陈学超
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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