Research On Optimization Algorithm for Spatial Position Control of Robotic Visual Servo System
Based on the three joint of robotic arm, to track an arbitrary continued path, a moving control algorithm based on Particle Swarm Optimization was studied in the visual servo system of three-joint robot arm in the paper. The optimization is based on the minimum error of distance between the end point of robot arm and the position of input path. In this case, the adaptability and intelligent of the robot would be improved with complicated working environment and task. The simulation experiment shows that the performance of system to track a continuous trajectory is Optimized, and has strong robustness.
component Optimization Algorithm Joint Manipulator Visual Servo-controlled Robots
Shi Yuqiu Pan Shenghui Ma Zhaomin Han Junfeng
Dept. of Electric Information and Control Engineering, Guangxi University of Technology, LiuZhou 545006, China
国际会议
长沙
英文
2423-2426
2010-05-11（万方平台首次上网日期，不代表论文的发表时间）