机器人2001，Vol.23Issue(2)：146-151,6.
微操作机器人的视觉伺服控制
VISUAL SERVO CONTROL OF ROBOTIC MICROMANIPULATOR
摘要
Abstract
Visual servo control is necessary for micromanipulator so as to achieve accurate motion and automatic manipulation. This paper investigates the method for implementing visual servo control of robotic micromanipulator. Firstly, the visual servo architecture suitable for micromanipulator is discussed. Then the system model for a 3DOF flexible joint based micromanipulator with 2-D micro vision is built aiming at the dual-hand robotic micromanipulation system for bioengineering. According to the characteristics of piezoelectric actuator controller, the implementation method for a kind of PID visual servo control law is proposed. In the experiments concerning point-to-point motion and circle trajectory tracking, it was demonstrated that the kinematic model errors caused by such factors as rough calibration and environmental varieties are complemented by visual servo control.关键词
微操作机器人/视觉伺服/建模分类
信息技术与安全科学引用本文复制引用
赵玮,宗光华,毕树生..微操作机器人的视觉伺服控制[J].机器人,2001,23(2):146-151,6.基金项目
国家自然科学基金和国家863高科技计划资助项目． （）
