关键词: 自适应控制, 视觉伺服, 无穷范数, 机器人精度及稳定性

Abstract: Aiming at the problem that the accuracy and stability of the control system are easily affected byenvironmental noise, equipment performance and other factors in the process of robot vision servo, an adaptive gain algorithm based on infinite norm optimization task sequence ( INOTS: Infinite Norm Optimization Task Sequence) is proposed. By dividing the real-time global task into different subtasks, the gain is automatically configured according to the characteristics of the subtask at different times. The simulation results indicate that compared to the fixed gain and the traditional adaptive gain adjustment algorithm, the proposed gain algorithm can improve the response speed of the system effectively, enhance the anti-interference ability of the control system, and improve the anti-interference ability of the control system.

Key words: adaptive control, visual servo, infinite norm, robot accuracy and stability