基于预估补偿的手眼伺服空间机器人控制方法的研究

doi:10.13190/jbupt.2006s2.8.313

北京邮电大学学报 ›› 2006, Vol. 29 ›› Issue (s2): 8-12.doi: 10.13190/jbupt.2006s2.8.313

基于预估补偿的手眼伺服空间机器人控制方法的研究

史国振1,3 孙汉旭2 程时端1 贾庆轩2 张延恒4 吴凡2

1. 北京邮电大学计算机科学与技术学院北京 100876; 2. 北京邮电大学自动化学院北京 100876;
3. 北京电子科技学院电子信息工程系北京 100071; 4. 北京航空航天大学机械工程与自动化学院北京 100083

收稿日期:2006-08-28 修回日期:1900-01-01 出版日期:2006-11-30 发布日期:2006-11-30
通讯作者: 史国振

Research on the Hand-Eye Servo System Based on the Estimate-Compensate in Space Robot

SHI Guo-zhen1,3 SUN Han-Xu2 CHENG Shi-Duan1 JIA Qing-Xuan2
ZHANG Yan-Heng4 WU Fan2

1. Computer Science and Technology School , Beijing University of Post and telecommunication , Beijing, 100876, China; 2. Automation School, ,Beijing University of Post and telecommunication, Beijing, 100876, China; 3. Electronics Engineering Department, Beijing Electronic Science and Technique Institute, Beijing, 100071; 4. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Received:2006-08-28 Revised:1900-01-01 Online:2006-11-30 Published:2006-11-30
Contact: SHI Guo-zhen1

摘要/Abstract

摘要：

针对手眼伺服空间机器人系统自主控制中，由于视觉反馈和控制算法的运算时间造成的大时滞现象对系统控制影响，提出了基于Smith预估补偿的优化机器人视觉伺服的控制方法。利用手眼反馈和关节返回的信息来估计实际情况下当前机械臂末端与目标的相对位姿，进行机器人的控制。同时根据空间机器人的具体情况，提出了固定视觉反馈时滞的方法，对系统进行了简化。该方法可消除系统的大时滞对系统控制的影响，提高了系统控制的实时性、稳定性和精度。模拟试验仿真结果验证了该方法的有效性。

关键词: Smith预估补偿, 空间机器人, 手眼伺服, 运动控制

Abstract:

To avoid the effect of time-lag caused by the vision-feedback and control algorithmic in eye-hand space robot servo system running in self-determined model, the Smith-estimate-compensate control algorithmic is presented. Using the information fed back from the eye-hand controller and joints, the relative position and pose between the target and the tip of manipulator are estimated, and the controlling is made. Furthermore, according to the features of space robot control, the fixed time-lag mechanism is introduced to simplify the control algorithmic. This algorithmic can avoid the effect of the time-lag and optimize the capability of the system, such as real-time ability，stability and precision. Simulating experiment results show the validity of the algorithmic.

Key words: smith-estimate-compensate, space robot, hand-eye servo, motion control

中图分类号:

TN929.53

史国振1,3 孙汉旭2 程时端1 贾庆轩2 张延恒4 吴凡2. 基于预估补偿的手眼伺服空间机器人控制方法的研究[J]. 北京邮电大学学报, 2006, 29(s2): 8-12.

SHI Guo-zhen1,3 SUN Han-Xu2 CHENG Shi-Duan1 JIA Qing-Xuan2
ZHANG Yan-Heng4 WU Fan2

. Research on the Hand-Eye Servo System Based on the Estimate-Compensate in Space Robot[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2006, 29(s2): 8-12.

[1]	张延恒, 孙汉旭, 贠超，贾庆轩. 漂浮基空间机器人关节驱动力矩求解的 Newton-Euler正交方法[J]. 北京邮电大学学报, 2007, 30(3): 11-14.
[2]	孙汉旭,姬罗栓,徐扬生. 空间三臂机器人在操作中的平衡问题[J]. 北京邮电大学学报, 2002, 25(1): 34-38.

基于预估补偿的手眼伺服空间机器人控制方法的研究

Research on the Hand-Eye Servo System Based on the Estimate-Compensate in Space Robot

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