Study On Track Control And Kinematics Plan For The Super-Articulated Unrestricted Moving Object

Motion control based on visual servoing control theory of unconstrained objects that is significant. According to this standpoint, the ball and beam system is invented. The ball and plate system is the extension of the traditional ball and beam problem. Unrestricted ball can freely move on the plate. The ball has not been installed sensor, therefore the environment can not been understood. Because there are many factors that the driving motor velocity confine, run constrained space due to moment of inertia, the problem of backlash in retarder, the nonlinear friction between ball and plate, for instance the random disorder as a result of air flow, and so on, the ball and plate system is a typical two input two output nonlinear time-variety system. The mathematical model is very complex, so the traditional control method is not valid to it. The object that this system is constructed is to study based on visual information kinematics and dynamics problems of the ball and plate system. A large number of advanced control schemes are played in this system, and it can show as a laboratory setup and be used for a control theory study equipment in one aspect of robot active vision and visual servoing. So far, some oversea universities have also applied the ball and plate system to study a lot of control algorithms. In this paper, firstly we introduced system function, basic structure, machine buildup and principle of the ball and plate system. According to actual system, we selected parts of an apparatus. We offered a online method that was played in lab setup mechanical initialization. We adopt a integral separate PID controller to manage step motor inner loop. The software system was realized on Visual C++ program language, and it has provide a valid method for system development. The track planning belongs to the lower robot planning problem. With the foundation of the dynamics and kinetics, The track planning problem researchs the born method in tracking of the moving object. This text studies the path planning curve which does not pass by any control points, expanding to pass by any control points. Uniform B-spline and curve preserving uniform cubic B_spline interpolation curve are introduced in this text, through the experiment, the result conforms that the arithmetic can reduce the time significantly that the system costs, and enable to keep speed smooth to change during the movement of the process, attaining the steady purpose in movement. The system orientates the objects at first and uses the CCD vidicon as vision sensor so that it deals with the demarcating problem of the vidicon. This system has no radial aberrance because it adopts CCD vidicon. So, it can complete demarcation of the vidicon based the linear mode of the vidicon. Then it does point to point operation and morphological operations and edge detection and features extraction for the image from the image grabbing card so that it can distill the controlled globule from the image information, then combine it with the result of space kinematics and vidicon. The designed vidicon fixed on the bottom and we prove the correctness of the orientation algorithm. The design of the visual controller starts with the kinetics and dynamics analysis of the Ball and Plate System, list the Lagrange equations of the system. Then obtain the simple model and complex model of the system. Based on the model we can conclude that the ball and plate system can be regarded as two individual sub-systems and we can control both coordinates independently. Due to the symmetry of x direction and y direction, hereafter we discuss x direction only. Since the friction confident is small in moving state, the speed damps little. If the speed is large, the ball will keep moving along the direction of the velocity, and it becomes extremely difficult to change smoothly the moving direction. In order to track accurately a desired trajectory like a circle, however, the direction of the velocity should be adjusted continuously. Therefore, the speed of the ball should be controlled to rather a smaller value. But the traditional fuzzy controller can't distinct to treat the each importation, cannot emphasize the velocity control only. So the SIRMs (Simple Input Rule Modules) dynamically connected fuzzy inference model is adopted to construct the fuzzy controller. SIRM for the estimated error, SIRMs for the velocity and acceleration, and fuzzy rules for the dynamic variable are designed for the system. Based on tracking experiments on two kinds of circle trajectories, it is confirmed that the unconstrained ball can be controlled to track a desired trajectory accurately.