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Studies of Robots Control Based on Visual Servo
Author: ZhangChengYu
Tutor: LiDongSheng
School: Northeastern University
Course: Mechanical Manufacturing and Automation
Keywords: visual servo LEGO robot fuzzy PID
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 105
Quote: 0
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Abstract
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With the social development and continually increasing demands for autonomous ability of robots, the fields of applications on visual servo are increasingly enlarging, the study on robot visual servo system has great future and practical significance. LEGO robot, with perfect function, high scalability, is a new type of testing and teaching tool. Therefore, based on the LEGO robot platform, the paper expanded the visual function and studied the visual servo of robot.After checking amounts of relative information and materials, the author designed a kind of video information system which is PC as main control node -node by mean of wireless to access to LEGO robots and also designed a hardware system which controlled robot, with communication with microprocessor on robots.LabVIEW as the main platform to employ software package RoboRealm to process the image, and carry on the implementation of control strategies to control LEGO robot. The key skill to the design process, image processing, communication protocols, motor drive, fuzzy regulator PID design, also were described in the paper.According to the analysis of Robot kinematics model, the feasibility of which Fuzzy-PID technology were applied on mobile robot motion control was demonstrated, the author designed the method of the parameters of fuzzy self-tuning PID controller that combined a traditional PID and fuzzy inference. This algorithm used fuzzy inference to improve the control of adaptive capacity, through the PID to get the accuracy of control, and applied on robot motion control to achieve the purpose of optimal control.Finally, according to the above, the author analyzed and designed the entire system, wrote a programme to achieve the robot control based on visual servo.
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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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