Computer Science ›› 2017, Vol. 44 ›› Issue (8): 318-321.doi: 10.11896/j.issn.1002-137X.2017.08.055

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Robust Control Algorithm of Bionic Robot Based on Binocular Vision Navigation

LI Xiu-juan, LIU Wei and LI Shan-hong   

  • Online:2018-11-13 Published:2018-11-13

Abstract: In the course of pose determination,the bionic robot is prone to generate control errors due to the influence of spatial perturbation factors.Accurate calibration of robots is required,and the positioning accuracy of bionic robot need to be improved.A robust control algorithm of bionic robot based on binocular vision navigation was proposed.The optical CCD binocular vision dynamic tracking system is used to measure the terminal position and orientation parameters of the bionic robot.The kinematic model of the controlled object is established.Taking the 6 degree of freedom parameter in the rotational joint of a robot as the control constraint paramater,a hierarchical space motion planning model of robot is established.The binocular vision tracking method is used to realize the adaptive correction of the position and orientation of the bionic robot,and robust control is achieved.Simulation results show that when appling the method to position control of biomimetic robot,the fitting error of robot end position parameters is low,and the performance of dynamic tracking is better.

Key words: Binocular vision navigation,Bionic robot,Robust,Control,Pose,Tracking

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