{"title":"基于速度前馈的机械手视觉伺服方法研究","authors":"Rui Wang, Changchun Liang, Dong Pan, Xiaodong Zhang, Pengfei Xin, Xiaodong Du","doi":"10.34133/2021/9763179","DOIUrl":null,"url":null,"abstract":"In this paper, a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is proposed. The predicted value is used as the velocity feedforward, and the position-based visual servo method is used to plan the velocity of the end of the manipulator. It overcomes the influence of end coordinate system motion on target prediction in a discrete system and introduces an integral control method to compensate for the prediction velocity, eliminating the end tracking error caused by target velocity prediction error. The effectiveness of this method is verified by simulation and experiment.","PeriodicalId":44234,"journal":{"name":"中国空间科学技术","volume":"1 1","pages":""},"PeriodicalIF":0.5000,"publicationDate":"2021-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":"{\"title\":\"Research on a Visual Servo Method of a Manipulator Based on Velocity Feedforward\",\"authors\":\"Rui Wang, Changchun Liang, Dong Pan, Xiaodong Zhang, Pengfei Xin, Xiaodong Du\",\"doi\":\"10.34133/2021/9763179\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is proposed. The predicted value is used as the velocity feedforward, and the position-based visual servo method is used to plan the velocity of the end of the manipulator. It overcomes the influence of end coordinate system motion on target prediction in a discrete system and introduces an integral control method to compensate for the prediction velocity, eliminating the end tracking error caused by target velocity prediction error. The effectiveness of this method is verified by simulation and experiment.\",\"PeriodicalId\":44234,\"journal\":{\"name\":\"中国空间科学技术\",\"volume\":\"1 1\",\"pages\":\"\"},\"PeriodicalIF\":0.5000,\"publicationDate\":\"2021-09-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"10\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"中国空间科学技术\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.34133/2021/9763179\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"ENGINEERING, AEROSPACE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"中国空间科学技术","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.34133/2021/9763179","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}
Research on a Visual Servo Method of a Manipulator Based on Velocity Feedforward
In this paper, a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is proposed. The predicted value is used as the velocity feedforward, and the position-based visual servo method is used to plan the velocity of the end of the manipulator. It overcomes the influence of end coordinate system motion on target prediction in a discrete system and introduces an integral control method to compensate for the prediction velocity, eliminating the end tracking error caused by target velocity prediction error. The effectiveness of this method is verified by simulation and experiment.
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