A Predictive Control Method for Stage Robot Based on Vision Sensor
A visual sensor and predictive control technology, applied in the field of trajectory tracking of stage robots, can solve the problems of data loss, actuator saturation, parameter uncertainty, etc., and achieve the effect of solving the problem of visual servo guaranteed performance tracking control.
Active Publication Date: 2021-06-18
ZHEJIANG UNIV OF TECH
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004] In order to overcome the inability of the prior art to solve the shortcomings of data loss and actuator saturation in the visual servo trajectory tracking and predictive control of stage robots, the present invention provides a visual servo trajectory tracking and predictive control method for the problems of stage robot data packet loss and actuator saturation. By modeling this problem as a kind of tracking error model with uncertain parameters, the corresponding performance index is given based on this model, and the solution method of feedback controller gain is also provided
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0054] The present invention will be further described below in conjunction with the accompanying drawings.
[0055] refer to figure 1 and figure 2 , a visual sensor-based predictive control method for a stage robot, comprising the following steps:
[0056] 1) Establish a stage robot kinematics model;
[0057] define [x y θ] T are the horizontal and vertical coordinates of the stage robot in the world coordinate system and the direction angle of the robot, then the kinematics model of the non-complete stage robot is
[0058]
[0059] Among them, v is the linear velocity of the stage robot, and w is the angular velocity of the stage robot;
[0060] 2) Fix the camera on the suspension, and use the image-based visual servo method to establish the error model of the stage robot. In order to verify the effectiveness of the proposed algorithm, select the camera parameter d 1 = d 2 = 2m, p x =1m,p y = 1m, θ * =0.2rad, then the system model is
[0061]
[0062] Among ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
A visual sensor-based predictive tracking control method for a stage robot, comprising the following steps: 1) establishing a stage robot kinematics model; 2) adopting an image-based visual servo method to establish an error model for a stage robot; 3) considering the uncertainty of the system, Actuator saturation and data anomaly problems, transform the system into an uncertain system with packet loss and actuator saturation; 4) Define the performance index function and determine the prediction equation according to the error model; 5) Combine the prediction equation and design the stabilized state feedback controller. The invention provides a visual servo trajectory tracking control method for a stage robot that can effectively solve the problem of data loss and input constraints.
Description
technical field [0001] The invention relates to the technical field of trajectory tracking of a stage robot, in particular to a visual sensor-based predictive control method for a stage robot. Background technique [0002] With the development of science and technology and control technology, computer vision has been widely used in various fields. The rich information of visual data and rich processing methods make the control of mobile robots based on vision widely used in entertainment, scientific research, military and industry. and logistics. Trajectory tracking, as one of the basic problems in the motion control of mobile robots, has attracted extensive attention. Therefore, the research on the trajectory tracking control technology of mobile robots based on vision can not only enrich the theoretical achievements of mobile robot motion control, but also meet the increasingly high requirements for motion control technology in many fields, which has great theoretical and...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 倪洪杰秦冬冬陈旭刘安东
Owner ZHEJIANG UNIV OF TECH