Motion Fuzzy Approximator for Manipulator Based on Visual Servo System

A visual servo and dynamic blur technology, applied in the direction of manipulators, general control systems, control/adjustment systems, etc., can solve the problems that it is difficult to ensure the stability of the visual servo system, image tracking accuracy, and cumbersome calibration, so as to reduce the complicated workload and improve Effect of Trajectory Tracking Accuracy

CN104942809BInactive Publication Date: 2018-04-17GUANGDONG UNIV OF TECH
6 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2018-04-17
Estimated Expiration
Not applicable · inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

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.
Need to check novelty before this filing date? Find Prior Art

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...

Examples

Embodiment Construction

[0029] The invention relates to a dynamic fuzzy approximator for a manipulator based on a visual servo system. By using the designed dynamic fuzzy approximator for the manipulator, by continuously changing the parameters of the fuzzy approximator, the fuzzy system is used to approximate the dynamics of the nonlinear unknown manipulator. In the case of random disturbance, the designed adaptive law can also change the parameters of the approximator online, effectively eliminate the influence of disturbance and ensure the stability of the visual servo system, and at the same time control the mechanical arm so that the end feature points track on the image plane The expected image trajectory, the approximator can ensure that the feature points achieve high image tracking accuracy. The following is a detailed description of the visual servo system-based motion blur approximator for a manipulator designed in the present invention with reference to the accompanying drawings and specif...