机器人2011，Vol.33Issue(3)：354-359,6.DOI:10.3724/SP.J.1218.2011.00354
基于姿态闭环控制的球面并联仿生眼系统设计与研究
System Design and Study on Bionic Eye of Spherical Parallel Mechanism Based on Attitude Closed-loop Control
摘要
Abstract
An attitude feedback based method for establishing the closed-loop control system of spherical parallel mechanism (SPM) is proposed to circumvent the difficulty caused by the complex, three-dimensional, nonlinear and strongly coupled relationship between the input and output of the mechanism.SPM, then, is employed to the design of bionic eye which emulates the function of human's eye but is bigger than it in size, and incorporates the interface of thesignal of control and video.In addition, the real-time online calculation of the inverse kinematics and the scheme of the closed-loop control is conducted on DSP (digital signal processor).Finally, the experimental results substantially confirm that the improved positioning precision of the bionic eye is obtained by introducing the proposed algorithm.关键词
球面并联机构/机器人眼/仿生眼/闭环控制Key words
spherical parallel mechanism (SPM)/ robot eye/ bionic eye/ closed-loop control分类
信息技术与安全科学引用本文复制引用
李超,谢少荣,李恒宇,缪金松,徐元玉,罗均..基于姿态闭环控制的球面并联仿生眼系统设计与研究[J].机器人,2011,33(3):354-359,6.基金项目
国家863计划资助项目(2007AA04Z225,2009AA04Z211) （2007AA04Z225,2009AA04Z211）
国家自然科学基金资助项目(60975068). （60975068）
