公开(公告)号：US20220258337A1

公开(公告)日：2022-08-18

申请号：US16742542

申请日：2020-01-14

Applicant: Beijing Institute of Technology

Inventor： Qiang HUANG ,  Xiaopeng CHEN ,  Yang XU ,  Zhangguo YU ,  Xuechao CHEN ,  Weimin ZHANG

IPC: B25J9/16 ,  H04N5/232 ,  G05B19/4155

Abstract: The present application discloses a wide-field-of-view anti-shake high-dynamic bionic eye. A trajectory tracking method based on a bionic eye robot includes: establishing a linear model according to a bionic eye robot; establishing a full state feedback control system on the basis of the linear model; in the full state feedback control system, acquiring an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; the method further includes: adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye. The present application achieves the optimal control of the target tracking.