同步三指式末端执行器的目标位姿估计方法
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摘要
为了在线判断机械臂末端执行器捕获过程中的目标位姿,本文采用接触力信息,提出了一种针对同步三指式末端执行器的目标位姿估计方法。在分析末端执行器几何约束特征的基础上,提出目标位姿估计方法。根据接触力判断接触手指,并结合末端执行器运动学分析结果,判断接触点位置和法向方向。利用两次有效接触信息,采用空间平面相交的方法,进行基于最少接触信息的位姿估计过程。当存在冗余接触信息时,采用最小二乘法对估计结果进行更新。通过仿真验证了估计方法的有效性。该估计方法适用于此类爪式末端执行器,具有一定的通用性。
To determine the target pose in the process of end-effector capturing,this study develops a pose estimation method for a simultaneous three-fingered end effector based on contact force information. The pose estimation method is proposed after analyzing the geometric constraint characteristics of the end effector. First,the contact finger is estimated with the contact force. Then,the contact position and normal direction are estimated by combining the kinematic analysis results of the end effector. The spatial plane intersection method is adopted for pose estimation with two effective contact information. When obtaining redundant contact information,the least squares method is adopted to update the estimation results. Finally,simulation validates the effectiveness of the estimation method.The proposed method has general applicability to a certain extent and specific applicability to claw-shaped end effectors.
To determine the target pose in the process of end-effector capturing,this study develops a pose estimation method for a simultaneous three-fingered end effector based on contact force information. The pose estimation method is proposed after analyzing the geometric constraint characteristics of the end effector. First,the contact finger is estimated with the contact force. Then,the contact position and normal direction are estimated by combining the kinematic analysis results of the end effector. The spatial plane intersection method is adopted for pose estimation with two effective contact information. When obtaining redundant contact information,the least squares method is adopted to update the estimation results. Finally,simulation validates the effectiveness of the estimation method.The proposed method has general applicability to a certain extent and specific applicability to claw-shaped end effectors.
引文
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[4]FONT D,PALLEJ T,TRESANCHEZ M,et al. A proposal for automatic fruit harvesting by combining a low cost stereovision camera and a robotic arm[J]. Sensors,2014,14(7):11557-11579.
[5]MEHTA S S,BURKS T F. Vision-based control of robotic manipulator for citrus harvesting[J]. Computers and electronics in agriculture,2014,102:146-158.
[6]徐文福,梁斌,李成,等.空间机器人捕获非合作目标的测量与规划方法[J].机器人,2010,32(1):61-69.XU Wenfu,LIANG Bin,LI Cheng,et al. Measurement and planning approach of space robot for capturing noncooperative target[J]. Robot,2010,32(1):61-69.
[7]胡杰,管贻生,吴品弘,等.双手爪爬杆机器人对杆件的位姿检测与自主抓夹[J].机器人,2014,36(5):569-575.HU Jie,GUAN Yisheng,WU Pinhong,et al. Pole pose measurement and autonomous grasping with a biped climbing robot[J]. Robot,2014,36(5):569-575.
[8]ZHANG Yu,SUN Kui,LIU Hong,et al. Pose measurement of nozzle based on laser range finders for capturing satellite[J]. Proceedings of the institution of mechanical engineers,Part G:journal of aerospace engineering,2016,230(8):1385-1396.
[9]张禹,孙奎,张元飞,等.用于机械臂末端感知的激光测距传感器设计[J].机器人,2014,36(5):519-526,534.ZHANG Yu,SUN Kui,ZHANG Yuanfei,et al. Design of a laser range finder for end perception of robot arm[J]. Robot,2014,36(5):519-526,534.
[10]TSUJIMURA T,YABUTA T. Object detection by tactile sensing method employing force/torque information[J].IEEE transactions on robotics and automation, 1989,5(4):444-450.
[11]HAIDACHER S,HIRZINGER G. Contact point identification in multi-fingered grasps exploiting kinematic constraints[C]//Proceedings of 2002 IEEE International Conference on Robotics and Automation. Washington,DC,USA,2002:1597-1603.
[12]PHUNG T C,KIM M J,MOON H,et al. Exploration of local surface geometry with minimum number of contact points and surface normal information[J]. International journal of control, automation and systems, 2012,10(2):383-395.
[13]YU Yong,KAMO Y,KAWAKOE H,et al. Estimation of contact shape of quadric environment with object probing operation[C]//2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton,Alta,Canada,2005:2351-2356.
[14]MOLL M,ERDMANN M A. Dynamic shape reconstruction using tactile sensors[C]//Proceedings of 2002 IEEE International Conference on Robotics and Automation.Washington,DC,USA,2002:1636-1641.
[15]LAM T L,XU Yangsheng. Treebot:autonomous tree climbing by tactile sensing[C]//2011 IEEE International Conference on Robotics and Automation. Shanghai,China,2011:789-794.
[16]YOON Y,RUS D. Shady3D:a robot that climbs 3D trusses[C]//Proceedings of 2007 IEEE International Conference on Robotics and Automation. Roma,Italy,2007:4071-4076.
[17]WU Jun,FAN Shaowei,JIN Minghe,et al. Design and experiment of a universal space-saving end-effector for multi-task operations[J]. Industrial robot:an international journal,2016,43(2):193-203.
[18]WU Jun,FAN Shaowei,NI Fenglei,et al. A space-saving end-effector with capture and actuation transmission capabilities[C]//2014 IEEE International Conference on Robotics and Biomimetics. Bali,Indonesia,2014:2203-2208.