Mechanical arm visual tracking control method and system for moving target

The invention discloses a mechanical arm visual tracking control method and system for a moving target, and the method comprises the steps: carrying out the estimation and prediction of the unknown motion state information of the moving target through a Kalman filtering method based on a camera pers...

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Bibliographic Details
Main Authors LUO JIAHUI, QIU-ZHOU JINGZI
Format Patent
LanguageChinese
English
Published 28.03.2023
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention discloses a mechanical arm visual tracking control method and system for a moving target, and the method comprises the steps: carrying out the estimation and prediction of the unknown motion state information of the moving target through a Kalman filtering method based on a camera perspective projection model; according to a Kalman filtering-based visual prediction tracking control method, a prediction result is designed to obtain expected joint angular velocity information; the robot dynamics control method based on the adaptive neural network compensates uncertainty dynamics and external interference of a robot system, and realizes dynamic tracking of expected joint angular velocity information. The system comprises an estimation module, a kinematics control module and a dynamics control module. By using the method, the problems of unknown motion of the target, uncertainty dynamics and external disturbance can be solved at the same time. The mechanical arm visual tracking control method and sy
Bibliography:Application Number: CN202211693177