Bionic Eye Trajectory Tracking With LQR Head-Eye Control
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Solution Overview
Problem
Current bionic eye robots have poor processing effects due to inadequate tracking and control methods, leading to suboptimal visual information acquisition and dynamic performance.
Innovation Solution
A wide-field-of-view anti-shake high-dynamic bionic eye system is developed, utilizing a trajectory tracking method based on a multi-degree-of-freedom linear model with a full state feedback control system and linear quadratic regulator (LQR) to optimize coordinated head-eye motion control, incorporating a binocular bionic eye with a three-degree-of-freedom neck joint and two two-degree-of-freedom eyeball mechanisms for effective target tracking and energy minimization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional tracking method is used for the bionic eye robot, then the system structure remains simple, but the tracking effect and visual information acquisition capability are poor
Solution Approach 1:
The patent implements a full state feedback control system that continuously monitors the actual states of the neck and eyeball joints and compares them with desired trajectories. The feedback controller adjusts control inputs in real-time based on the deviation between actual and desired states, enabling accurate tracking while maintaining system stability. This feedback mechanism directly resolves the contradiction by providing reliable tracking through systematic state correction.
Solution Approach 2:
The patent employs dynamic modeling of the bionic eye system, incorporating inertia matrices, centrifugal and Coriolis force matrices, and friction coefficients. The control system adapts to the changing dynamic characteristics of the multi-degree-of-freedom system during motion, allowing the neck and eyeball to coordinate their movements dynamically. This dynamic approach enables accurate tracking despite the complexity of the coupled motion between neck and eyeball joints.
2Use of energy by moving object
If the coordinated head-eye motion control is not optimized, then the system structure remains simple, but the energy consumption is high and dynamic performance is poor
Solution Approach 1:
The patent pre-calculates the inertia matrix, centrifugal and Coriolis force matrix, and friction coefficient matrix based on the system configuration and link parameters. These pre-computed dynamic parameters are stored and retrieved during real-time control, avoiding repeated complex calculations. This preliminary action significantly reduces computational burden and energy consumption while maintaining accurate coordinated control of the neck and eyeball motions.
Solution Approach 2:
The patent optimizes control parameters including the feedback gain matrix K and trajectory parameters to minimize energy consumption. By adjusting these parameters, the system achieves efficient coordinated motion between the neck and eyeball while reducing the energy required for actuation. The parameter optimization directly addresses the energy consumption issue without requiring fundamental changes to the system structure.
3Adaptability or versatility
If a multi-degree-of-freedom system is used for wide-field-of-view tracking, then the visual information acquisition capability is improved, but the control difficulty and system complexity increase
Solution Approach 1:
The patent divides the complex multi-degree-of-freedom system into separate controllable modules: the neck mechanism with three degrees of freedom and the eyeball mechanism with two degrees of freedom. Each module has its own dynamic model and control strategy, allowing independent analysis and control design. This segmentation reduces the overall control difficulty by breaking down the complex coupled system into manageable subsystems while maintaining the wide-field-of-view capability through coordinated motion of all degrees of freedom.
Data Source
AI summary
The present application discloses a wide-field-of-view anti-shake high-dynamic bionic eye. A trajectory tracking method based on a bionic eye robot includes: establishing a linear model according to a bionic eye robot; establishing a full state feedback control system on the basis of the linear model; in the full state feedback control system, acquiring an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; the method further includes: adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye. The present application achieves the optimal control of the target tracking.