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.