摘要
由于未考虑传感定位的影响,在机器人姿态解码过程中导致机器人姿态自动控制能力较低的问题,提出了基于改进多视图投影的机器人姿态解码器设计研究。以ARM嵌入式处理器为主控制器,在设计机器人姿态译码器总体结构的基础上,采用多通道联合控制的方法,通过多视投影机器人感知定位来识别其姿态参数,通过多维传感器的目标分布函数跟踪识别出融合参数,在改进的多视图投影下实现机器人姿态解码与自适应控制。实验结果表明,该机器人姿态译码装置具有良好的姿态参数识别能力和参数融合跟踪能力,能有效提高机器人的姿态自动控制性能。
Because of the influence of sensor location,the robot attitude automatic control ability is low in the process of robot attitude decoding.A design and research of robot attitude decoder based on is presented improved multi view projection.Based on the design of the overall structure of robot attitude decoder,ARM embedded processor is the main controller.The attitude parameters are identified by the multi-channel joint control method.The fusion parameters are identified by tracking the target distribution function of multi-dimensional sensors,The attitude decoding and adaptive control of robot are realized under the improved multi view projection.The experimental results show that the robot attitude decoding device has good ability of attitude parameter recognition and parameter fusion tracking,and can effectively improve the performance of automatic attitude control of the robot.
作者
卜文锐
BU Wenrui(Shaanxi Institute of Technology,Xi'an 710300)
出处
《自动化与仪器仪表》
2021年第9期249-252,共4页
Automation & Instrumentation
基金
陕国职院(2018)05号+TensorFlow框架人工智能研究与开发(No.+Gfy18-16)
陕西省国家“双高计划”建设学校课程思政与项研究课题+《人工智能技术》课程思政研究与实践(No.+SGKCSZ2020-970)。
关键词
改进多视图投影
机器人
姿态解码器
多传感定位
参数融合
Improved multi-view projection
Robot
Attitude decoder
Multi sensor positioning
Parameter Fusion
