李超, 谢少荣, 李恒宇, 缪金松, 徐元玉, 罗均. 基于姿态闭环控制的球面并联仿生眼系统设计与研究[J]. 机器人, 2011, 33(3): 354-359..
LI Chao, XIE Shaorong, LI Hengyu, MIAO Jinsong, XU Yuanyu, LUO Jun. System Design and Study on Bionic Eye of Spherical Parallel Mechanism Based on Attitude Closed-loop Control. ROBOT, 2011, 33(3): 354-359..
Abstract：An attitude feedback based method for establishing the closed-loop control system of spherical parallel mechanism (SPM)is proposed to circumvent the difficulty caused by the complex,three-dimensional,nonlinear and strongly coupled relationship between the input and output of the mechanism.SPM,then,is employed to the design of bionic eye which emulates the function of human's eye but is bigger than it in size,and incorporates the interface of the signal of control and video.In addition,the real-time online calculation of the inverse kinematics and the scheme of the closed-loop control is conducted on DSP(digital signal processor).Finally,the experimental results substantially confirm that the improved positioning precision of the bionic eye is obtained by introducing the proposed algorithm.
[1] 黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997.Huang Z,Kong L F,Fang Y F.Mechanism theory and control of parallel robot[M].Beijing:China Machine Press,1997.
[2] 阎洪禄,于秀敏.眼生理学[M].北京:人民卫生出版社,2001.Yan H L,Yu X M.Physiology of the eye[M].Beijing:People's Medical Publishing House,2001.
[3] 李风鸣.眼科全书[M].北京:人民卫生出版社,1996.Li F M.Encyclopaedia of the eye[M].Beijing:People's Medical Publishing House,1996.
[4] Cannata G,Maggiali M.Implementation of Listing's law for a tendon driven robot eye[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2006:3940-3945.
[5] 黄田,曾宪菁,倪雁冰,等.球面并联操作机的尺度综合方法[J].自然科学进展,2000,10(8):751-756.Huang T,Zeng X J,Mi Y B,et al.Dimensional synthesis of spherical parallel manipulators[J].Progress in Natural Science,2000,10(8):751-756.
[6] Gosselin C M,Hamel J E The agile eye:A high-performance three-degree-of-freedom camera-orienting device[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,1994:781-786.
[7] Goseelin C M,St-Pierre E,Gagne M.On the development of the agile eye[J].IEEE Robotics & Automation Magazine,1996,3(4):29-37.
[8] 金振林,曹舜.高峰.新型机器人肩关节及其运动学分析[J].中国机械工程,2009,20(14):1639-1642.Jin Z L,Cao S,Gao E Design and kinematics analysis of a novel robot shoulder joint[J].China Mechanical Engineering,2009,20(14):1639-1642.
[9] 刘和半,邓力,江渝.数字信号处理器原理、结构及应用基础:TMS320F28x[M].北京:机械工业出版社,1997.Liu H P,Deng L,Jiang Y.Theory,architecture and application fundament of digital signal processor:TMS320F28x[M].Beijing:China Machine Press,2007.
