论文标题
混合视觉伺服宣传跟踪控制未校准的机器人系统，用于动态矮人园林收获
Hybrid Visual Servoing Tracking Control of Uncalibrated Robotic Systems for Dynamic Dwarf Culture Orchards Harvest
论文作者
论文摘要
该论文涉及在存在多个未校准的模型参数的情况下，在矮培养果园收获的应用中，在存在多个未校准的模型参数的情况下，捕获机器人的动态跟踪问题。提出了一种新的混合视觉宣传宣传跟踪控制器和三种自适应定律，以确保收获机器人完成动态收获任务以及对未知参数的适应性，包括摄像机固有和外部模型和机器人动力学。通过Lyapunov理论，严格证明了闭环系统与拟议的控制方案的渐近收敛性。已经进行了实验和仿真结果，以验证提出的控制方案的性能。结果证明了其有效性和优势。
The paper is concerned with the dynamic tracking problem of SNAP orchards harvesting robots in the presence of multiple uncalibrated model parameters in the application of dwarf culture orchards harvest. A new hybrid visual servoing adaptive tracking controller and three adaptive laws are proposed to guarantee harvesting robots to finish the dynamic harvesting task and the adaption to unknown parameters including camera intrinsic and extrinsic model and robot dynamics. By the Lyapunov theory, asymptotic convergence of the closed-loop system with the proposed control scheme is rigorously proven. Experimental and simulation results have been conducted to verify the performance of the proposed control scheme. The results demonstrate its effectiveness and superiority.
