Manipulator tracking technology based on FSRUKF

作     者：SHI Guoqing ZHANG Boyan ZHANG Jiandong YANG Qiming HUANG Xiaofeng QUE Jianyao PU Junwei GENG Xiutang SHI Guoqing;ZHANG Boyan;ZHANG Jiandong;YANG Qiming;HUANG Xiaofeng;QUE Jianyao;PU Junwei;GENG Xiutang

作者机构：School of Electronics and InformationNorthwestern Polytechnical UniversityXi’an 710072China Northwest Institute of Mechanical&Electrical EngineeringXianyang 712000China 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2024年第35卷第2期

页      面：473-484页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by Natural Science Basic Research Program of Shaanxi(2022JQ-593) Key Research and Development Program of Shaanxi(2022GY-089) 

主　　题：square root unscented Kalman filter(SRUKF) fuzzy inference manipulator visual servo 

摘      要：Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment,the key technologies such as machine vision and manipulator control are studied,and a complete manipulator vision tracking system is ***,Denavit-Hartenberg(D-H)parameters method is used to construct the model of the manipulator and analyze the forward and inverse kinematics equations of the *** the same time,a binocular camera is used to obtain the threedimensional position of the ***,in order to make the manipulator track the target more accurately,the fuzzy adaptive square root unscented Kalman filter(FSRUKF)is proposed to estimate the target ***,the manipulator tracking system is built by using the position-based visual *** simulation experiments show that FSRUKF converges faster and with less error than the square root unscented Kalman filter(SRUKF),which meets the application requirements of the manipulator tracking system,and basically meets the application requirements of the manipulator tracking system in the practical experiments.