上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

基于视觉反馈机器人的yoyo运动控制

金惠良，袁德虎，叶骞，谢文华   

  1. （上海交通大学 机械与动力工程学院， 上海 200240）
  • 收稿日期:2007-10-28 修回日期:1900-01-01 出版日期:2008-10-28 发布日期:2008-10-28
  • 通讯作者: 金惠良

Robotic yoyo Motion Control with Visual Feedback

JIN Hui-liang, YUAN De-hu, YE Qian, XIE Wen-hua   

  1. (School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2007-10-28 Revised:1900-01-01 Online:2008-10-28 Published:2008-10-28
  • Contact: JIN Hui-liang

摘要： 提出了一个根据yoyo状态决定机器人动作时间的开关控制策略，并分析了和原连续系统相关的离散返回映射及其不动点的稳定性.理论分析表明，只要保证加速度大小的控制参数维持在一定水平之上，就可以保证其不动点的稳定性.在一个实时机器人的yoyo操作系统上成功地验证了所提出控制算法的稳定性，以及关于返回映射不动点的理论分析结果.

关键词: 机器人, 视觉反馈, 模型控制, 循环运动控制, yoyo操作

Abstract: The switching control strategy proposed here stabilizes the yoyo by determining when to start its activation. The discrete return map associated with the original continuous system was analyzed and shown to possess a single physically relevant fixed point. Stability is guaranteed as long as the control parameter, which determines the magnitude of the acceleration, is above a certain level. The stabilizing power of the proposed control algorithm is successfully demonstrated on a realtime robotic yoyo playing system. Theoretical predictions regarding the fixed point of the return map are confirmed experimentally.

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