Research on Path Tracking Control of Shooting Robot with Double Closed Loop PID Application
The noise in the path image of a shooting robot can affect the effectiveness of the robot's path tracking control,leading to the shooting robot deviating from the normal trajectory.Therefore,a path tracking control method of shooting robot with double closed loop pid application is proposed.By analyzing the architecture of the shooting robot,the OpenMv visual recognition method is used to collect the path image of the shooting robot,and the wavelet threshold algorithm is combined to implement de-noising processing on the collected image,thereby obtaining a clear path image of the shooting robot.Based on the denoising pro-cessing results of the image,the curve fitting method is combined with the feature point detection method to achieve shooting robot path recognition.According to the shooting robot path recognition results,the actual deviation of the path is determined,and a double-closed-loop PID controller is established based on the position and moving speed of the actuator to achieve shooting robot path tracking and control.The experimental results show that this method has good denoising effect on the path image of the shooting robot and good tracking and control effect,fully verifying the effectiveness of this method.
NETL
NSTL
万方数据
维普
