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中文摘要：
研究多气囊柔性试衣机器人问题，提出了一种视觉伺服控制方案。上述视觉伺服控制方法通过直接控制目标外形的变化，相对于传统的以囊内气压作为反馈的控制方案，能够提供更高的控制精度，但其难点在于如何建立检测精度高、实时性能良好的视觉检测系统。通过基于无模型自适应控制的控制算法进行视觉伺服控制仿真，结果验证了系统的可行性，表明提出的视觉伺服系统方案，在多气囊柔性试衣机器人的控制中能够得到良好的控制效果。
英文摘要：
This paper provides a visual servo control method for Multi - aerocyst flexible fitting robot, and this method controls the shape variation directly, thus provides a better control effect and a higher control precision than the traditional control method which regards the pressure parameters as the feedback, but the difficulty is how to es- tablish a visual detection system with high precision and good real - time performance. Through the simulation and a- nalysis of visual servo control based on Model Free Adaptive Control algorithm, the feasibility of the system was veri- fied. The results show that this method is able to obtain a better control effect in the control of Multi - aerocyst flexi- ble fitting robot.
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