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为满足针对可变形线性物体(DLO)自动控制和机器人操作日益增加的需求,提出一种基于视觉的DLO末端抑振方法.该抑振策略借鉴人类对DLO操作过程中的抑振思想,通过高速摄像头获取DLO的运动图像,采用图像处理算法实时处理DLO图像,获取DLO末端的运动状态.基于DLO末端信息,设计模糊控制器实现机器人与DLO的运动方向相同的运动,削减DLO的内部能量,从而实现DLO末端抑振.实验结果表明基于模糊控制的DLO末端抑振方法能够实现快速抑振.
In order to meet the demand of DLO automatic control and robot operation increasing day by day, a vision-based DLO terminal vibration suppression method is proposed. The vibration suppression strategy draws on the idea of human anti-vibration in the operation of DLO, The camera obtains the moving images of the DLO and realizes the DLO image by using the image processing algorithm to obtain the moving state of the DLO ends.According to the DLO end information, the fuzzy controller is designed to realize the same movement of the robot and the DLO, and reduce the internal energy of the DLO To achieve the end of the DLO vibration suppression.The experimental results show that based on the fuzzy control of the end of the DLO vibration suppression method can achieve rapid vibration suppression.