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Method for prolonging robot visual servo control response time

A technology of robot vision and visual servo, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of slow system response time, achieve strong robustness, solve the effects of slow system response time and simple structure

Inactive Publication Date: 2019-01-11
BEIJING INST OF REMOTE SENSING EQUIP
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a method for improving the response time of robot visual servo control, and solve the problem of slow system response time in traditional methods

Method used

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  • Method for prolonging robot visual servo control response time
  • Method for prolonging robot visual servo control response time
  • Method for prolonging robot visual servo control response time

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Embodiment Construction

[0024] A method for improving the response time of robot visual servo control, the specific steps are:

[0025] The first step is to build a visual servo control system

[0026] The visual servo control system includes: a simulation module and a control rule design module.

[0027] The function of the simulation module is: to simulate the visual servo control system;

[0028] The second step, the simulation module simulates the mathematical model of the visual servo control system

[0029] The mathematical model of the visual servo control system consists of: visual controller, robot controller, robot dynamics, robot environment, joint sensor, camera, image feature extraction, image processing feature extraction, the image feature extraction is the image information Digital processing, the image processing feature extraction is to extract the feature vector in the digital image information, and the simulation module simulates the mathematical model of the visual servo contro...

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Abstract

The invention discloses a method for prolonging the robot visual servo control response time. Firstly, a visual servo control system is built, and comprises a simulation module and a control rule design module, the simulation module carries out simulation on the visual servo control system, and the control rule design module carries out designing on a single neuron PID control strategy and updatesPID parameters in the visual servo control system. According to the method, the rule is reasonably designed, a single neuron self-adaption intelligent PID controller with self-learning and self-adaptation capacity is introduced into the visual servo control system, the problem that in the traditional method, the system response time is short is solved, the structure is simple, the method can adapt to the environment changes, and high robustness is achieved.

Description

technical field [0001] The invention relates to a method for improving the response time of robot vision servo control, in particular to a method for improving the response time of image-based robot vision servo control. Background technique [0002] Visual servo control can be divided into position-based and image-based control. The control process of position-based control is completely carried out in the pose space. The control accuracy is quite dependent on the calibration accuracy of the camera. The servo error of image-based control is directly defined in the image feature space. The problem of camera calibration can be avoided. Based on this excellent characteristic, this paper chooses the visual servo system based on image control as the research object. Visual servo control is one of the important research contents of modern robotics, and has broad application prospects in industrial automation, national defense, military and aerospace. Robot visual servo system is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/163B25J9/1697
Inventor 张黎薛志刚黄堉魏相国刘京平
Owner BEIJING INST OF REMOTE SENSING EQUIP