Study On Design Of Visual Servo Control System For Multi-aerocyst Flexible Fitting Robot

In this paper, we set the Humanoid Multi-aerocyst Flexible Fitting Robot as the research background. According to the characteristics of this study, combining the modeling analysis of the control object and design of control hardware and software system, we provides a for visual servo control method. The traditional control method which regards the pressure parameters as the feedback is difficult to realize the well-control with the complex environment in the practical application, and the visual servo control is a method which controls the shape variation directly, thus will provide a better control effect. In the aspect of control algorithm, the model free adaptive control (MFAC) does not depend on the accurate mathematical models of the controlled system, the algorithm has less adjustable parameters, and it has strong compatibility for different controlled system. The main research work is as follows:Firstly, the paper introduces both of the project background and the system structure of Multi-aerocyst Flexible Fitting Robot. Through analyzing of the system features, proposed a design scheme of visual servo control system. Choose the industrial camera as the sensor, taking the thickness parameters of aerocyst inflation as the feedback variable of the control process. Control the shape of the aerocyst during the inflation process directly.Secondly, the paper briefly introduced the application status of visual servo control, hardware selection and set up of visual inspection system of Humanoid Multi-aerocyst Flexible Fitting Robot, using NI Lab VIEW as the platform, designed the vision detection software of Humanoid Multi-aerocyst Flexible Fitting Robot.Finally, the paper introduced the work on detecting the step response of the inflation process of Humanoid Multi-aerocyst Flexible Fitting Robot by using the vision detection system, then finished the modeling and analysis of aerosyst object. Briefly introduced the background of the model free control method and the basic principle of model free adaptive control and its analysis including the model free control law and the identification of characteristic parameters, then the model free controller performance are outlined. Through LabVIEW/MATLAB mixed programming simulation experiment compared the performance of MFAC and the traditional PID control method in the system, proved this scheme is able to control stably and suitable for controlling of all kinds of aerosyst inflation process, can effectively avoid the impact on aerosyst deformation precision caused by inflation process overshoot and potential safety hazard of the burst caused by over-inflation of the aerosyst.