摘要
摄影机器人在影视制作中常被广泛应用和开发,为降低拍摄情景中的人为现场干预和人力成本,研究将机器人与摄像需求进行智能结合,并对机器人运动拍摄和轨迹跟踪进行设计,以优化拍摄效果。研究分析梯度投影算法来改进机器人局部路径规划能力,再根据机器人转向滑动的运动方式设计稳定控制器,然后根据滑转补偿的运算过程执行到机器人上以完成控制系统的高效补偿前馈。最后结合投影梯度算法和自适应滑动模态控制对仿真机器人进行仿真跟踪实验,实验结果得出,100节点的改进对偶协方差哈密顿优化的路径规划方法的规划成功率和时间分别为80.12%和0.10 s,为最佳路径规划方法。有滑转补偿的自适应SMC作为机器人运动跟踪系统的最佳稳定控制器算法,在运动方向即X方向移动、Y方向移动及转向角的绝对误差累计值分别为7.46%、19.59%和17.56%。从而证明基于改进梯度投影算法和自适应SMC的运动跟踪系统具有较高稳定性,并为运动跟踪机器人的技术开发提供技术支持。
Photography robots are often widely used and developed in film and television production.In order to reduce human on-site intervention and labor costs in shooting scenarios,research is being conducted to intelligently combine robots with camera requirements,and design robot motion shooting and trajectory tracking to optimize shooting effects.Research and analyze gradient projection algorithms to improve the robot’s local path planning ability,and then design a stable controller based on the robot’s turning and sliding motion.Then,according to the calculation process of slip compensation,it is executed on the robot to achieve efficient compensation feedforward of the control system.Finally,a simulation tracking experiment was conducted on the simulated robot using projection gradient algorithm and adaptive sliding mode control.The experimental results showed that the success rate and time of the improved dual covariance Hamiltonian optimization path planning method with 100 nodes were 80.12%and 0.10 seconds,respectively,making it the optimal path planning method.The adaptive SMC with slip compensation serves as the optimal stable controller algorithm for robot motion tracking systems,with absolute error cumulative values of 7.46%,19.59%,and 17.56%in the motion direction,namely X direction movement,Y direction movement,and steering angle,respectively.This proves that the motion tracking system based on improved gradient projection algorithm and adaptive SMC has high stability,and provides technical support for the development of motion tracking robots.
作者
肖雪菁
XIAO Xuejing(Xi’an Peihua University,Xi’an 710000,China)
出处
《自动化与仪器仪表》
2024年第3期175-179,共5页
Automation & Instrumentation
作者简介
肖雪菁(1992-),女,陕西潼关人,西安培华学院教师,讲师。
