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首页> 外文会议>International Conference on Computer-Aided Design, Manufacturing, Modeling and Simulation >Research on Optimized Control of Six - DOF Manipulator with Uncalibrated Visual Servo
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Research on Optimized Control of Six - DOF Manipulator with Uncalibrated Visual Servo

机译：用Uncarbated Visual Servo优化控制六-TOF机械手的研究

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摘要

This paper realizes the uncalibrated visual servoless control of the Six-DOF manipulator, where the intrinsic and extrinsic parameters of the camera and the robot manipulator model are not known, nor real-time computes the inverse of image Jacobian. And the neural network was used to optimize the trajectory of manipulator end in Cartesian space. Firstly, a biaxial parallel layoutt are proposed to establish the relationship between the moving component along the coordinate axis and the change of single image feature when the end of the robot moves in the Cartesian space. The neural network was used to fit the relationship established above, then the optimization model was established, and the parameter of PID controller were optimized by neural network. Finally, the simulation and comparison experiments are investigated, and the results indicate the controller posed in this paper is effective and stable.
机译：本文实现了六-TOF操纵器的未校准视觉伺服控制，其中相机和机器人操纵器模型的内在和外在参数尚不清楚，也不是实时计算图像雅可比的倒数。神经网络用于优化笛卡尔空间中操纵器端的轨迹。首先，提出双轴平行布局以在机器人的结束在笛卡尔空间中移动时，建立沿坐标轴和单个图像特征的变化之间的关系。神经网络用于拟合上面建立的关系，然后建立了优化模型，并且通过神经网络优化了PID控制器的参数。最后，研究了模拟和比较实验，结果表明本文提出的控制器是有效且稳定的。

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