智能机器人自适应视觉伺服控制系统及仿真

Robot vision is the key to the intelligent robot system, and is the big project in the area of robotics. This project has mainly studied the mathematical model of the visual servo control system and the robot visual servo simulation system. The study includes the fast algorithms for image characteristic calculation, visual sensor modeling, the kinematics model and simulation of 6-degree robot, the kinetics model and simulation of 6-degree robot, control algorithms for robot, and the 6-degree robot visual servo simulation system. The main achievement is the <6-Degree Robot Visual Servo Simulation System>. This simulation system can simulate the 6-degree robot system in different ways including robot kinematics, kinetics and the robot shape. Using this simulation system, the study of visual servo control algorithms can be done on the computer.

主要研究机器人视觉伺服数学模型和视觉伺服控制系统及用于视觉控制系统研究的视觉伺服仿真系统。包括图象特征提取快速算法、视觉传感器特征的建模、自学习自适应视觉伺服模型的建立及视觉伺服控制系统的稳定性和鲁棒性研究。视觉伺服仿真系统将为视觉控制系统的研究提供一个友好平台。该项目对提高机器人的智能化程度和工作效率有重大意义。