| 引用本文: | 任秉银,魏坤,吴卓琦.机械臂视觉伺服路径规划研究进展[J].哈尔滨工业大学学报,2018,50(1):1.DOI:10.11918/j.issn.0367-6234.201711143 |
| REN Bingyin,WEI Kun,WU Zhuoqi.Research progress of path planning for visual servoing of robotic manipulator[J].Journal of Harbin Institute of Technology,2018,50(1):1.DOI:10.11918/j.issn.0367-6234.201711143 |
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| 摘要: |
| 视觉伺服控制是机械臂完成各种复杂作业任务的有效手段，而机械臂在动态非结构环境下自主作业的路径规划方法是视觉伺服控制领域的难点和关键.分析了动态非结构环境下视觉伺服路径规划中存在的两类约束及其处理方法，介绍并评述了国内外在机械臂视觉伺服控制中路径规划方面的相关研究进展，讨论并分析了不同路径规划方法在收敛性和稳定性等方面存在的不足，对未来的研究方向进行了展望.
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| 关键词: 机械臂 视觉伺服 路径规划 约束 动态非结构环境 不确定性 |
| DOI：10.11918/j.issn.0367-6234.201711143 |
| 分类号:TP391 |
| 文献标识码:A |
| 基金项目: |
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| Research progress of path planning for visual servoing of robotic manipulator |
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REN Bingyin1,WEI Kun1,WU Zhuoqi2
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(1. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China; 2.School of Mechanical and Power Engineering, Shanghai Jiaotong University,Shanghai 200240, China)
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| Abstract: |
| Visual servoing control is an effective means for robotic manipulator to complete complex tasks and the path planning method of the robotic manipulator autonomous operation in dynamic unstructured environment is the difficulty and key in the field of visual servoing control. Two types of constraints that exist in the visual servoing path planning in dynamic unstructured environment and the processing methods of constraints are analyzed. The relevant research progresses of path planning in visual servoing control of robotic manipulator at home and abroad are reviewed, and the deficiencies in convergence and stability of different methods of path planning are also analyzed. The future research direction is prospected based on current research progress.
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| Key words: robotic manipulator visual servoing path planning constraint dynamic unstructured environment uncertainty |
