无标定视觉伺服机器人跟踪控制策略研究
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摘要
针对无标定视觉伺服系统,eye-in-hand型结构,提出一种以图像特征为反馈的模糊控制策略,对平面内运动物体进行跟踪。应用Matlab和机器人工具箱RoboticToolbox对控制策略进行仿真,并以三轴直角坐标系机器人、摄像机、计算机为基础,构建一种无标定视觉伺服机器人的运动跟踪系统。系统的工作原理如下,由摄像机采集图像,经图像处理目标定位,识别出待跟踪物体与当前摄像机末端的相对位置,通过模糊控制器对机器人的动作状态进行控制,实时反馈图像信息,纠正系统误差,最终达到稳定跟踪。仿真与实验验证了系统的可行性与实用性,为提高工业自动化生产线快速抓取提供了新的思路,对后续无标定伺服系统的研究做了铺垫。
Aiming at the un-calibrated robot Visual Servo system of the eye in hand structure, a fuzzy control strategy with image feature as feedback is proposed to track the moving objects in the plane. The control strategy is simulated by Matlab and Robotic toolbox. The motion tracking system of an un-calibrated robot Visual Servo system is constructed based on three axis Cartesian coordinate system robot, camera and computer. The working principle of the system is as follows: the current image is collected by the camera, then the relative position of the object and the end of robot is measured by Matlab image processing, the action state of the robot is controlled by the fuzzy controller. According to the image real-time feedback from camera, constantly correct the deviation, and ultimately achieve stable tracking. The experiment and simulation experiment of physical crawling verify the feasibility and practicability of the system. It provides a new way to improve the rapid crawling of industrial automation production line, and paves the way for the follow up of un-calibrated servo system.
Aiming at the un-calibrated robot Visual Servo system of the eye in hand structure, a fuzzy control strategy with image feature as feedback is proposed to track the moving objects in the plane. The control strategy is simulated by Matlab and Robotic toolbox. The motion tracking system of an un-calibrated robot Visual Servo system is constructed based on three axis Cartesian coordinate system robot, camera and computer. The working principle of the system is as follows: the current image is collected by the camera, then the relative position of the object and the end of robot is measured by Matlab image processing, the action state of the robot is controlled by the fuzzy controller. According to the image real-time feedback from camera, constantly correct the deviation, and ultimately achieve stable tracking. The experiment and simulation experiment of physical crawling verify the feasibility and practicability of the system. It provides a new way to improve the rapid crawling of industrial automation production line, and paves the way for the follow up of un-calibrated servo system.
引文
[1]郑雪林.基于视觉伺服的仿人机器人智能抓取技术研究[D].东北大学,2013.ZHENG X L.Research and Implementation of Humanoid Intelligent Grasping Technology Based on Visual Servoing[D].Northeastern University,2013.
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[7]李娜,王维哲,赵伟.高速移动图像丢帧误差的矫正方法研究[J].控制工程,2015,22(6):1196-1200.Li N,Wang W Z,Zhao W.High-speed Mobile Image Frame Error Correction Method[J].Control Engineering,2015,22(6):1196-1200.
[8]於正强,潘赟,宦若虹.一种结合帧差法和混合高斯的运动检测算法[J].计算机应用与软件,2015,32(4):129-132.Yu Z Q,Pan Y,Huan R H.An Motion Detection Algorithm Combining Frame Difference Method and Mixed Gaussian Motion[J].Journal of Computer Applications and Software,2015,32(4):129-132.
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[10]谢之宇,蒋晓瑜,汪熙,等.改进的帧差法在目标匹配中的应用[J].计算机工程与应用,2011,47(34):208-211.XIE Z Y,JIANG X Y,WANG X,et al.Improved Frame Difference Algorithm in Application of Target-matching.Computer Engineering and Applications,2011,47(34):208-211.
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[13]罗新波.基站用相变储能空调机组性能预测及控制仿真研究[D].湖南大学,2015.Luo X B.Study on Performance Prediction and Control Simulation of Air Conditioner Using Phase Change Energy Storage Unit in Telecommunication Base Station[D].Hunan University,2015.
[14]胡春华,马旭东,戴先中.一种基于行为的移动机器人目标人跟踪控制方法[J].控制工程,2011,18(2):318-321.Hu C H,Ma X D,Dai X Z.A Robust Person Following Control Method for Behavior-Based Mobile Robot[J].Control Engineering,2011,18(2):318-321.
[15]管欣,洪峰,贾鑫,等.汽车驾驶模拟器视觉系统传输延迟补偿[J].吉林大学学报(工),2017,47(1):28-34.Guan X,Hong F,Jia X,et al.Compensation for Transport Delay of Vision System in Driving Simulator[J].Journal of Jilin University,2017,47(1):28-34.
[16]Chang W C,Wu C H.Eye-in-hand Vision-Based Robotic Bin-Picking with Active Laser Projection[J].The International Journal of Advanced Manufacturing Technology,2016,85(9):2873-2885.
[17]刘绵.无标定视觉伺服控制系统的研究[D].燕山大学,2011.Liu M.Research of Un-Calibrated Visual Servoing Robot Control System[D].Yanshan University,2011.
[18]陈学昂.台达NC300数控系统在无人车间的应用[J].机器人技术与应用,2014,27(1):71-73.Chen X A.Delta NC300 Numerical Control System in the Unmanned Workshop Application[J].Robotics Technology and Application,2014,27(1):71-73.
[19]欧阳格,王家序,徐超,等.无标定视觉伺服系统在灵巧手抓取目标时的应用[J].机械工程与自动化,2012,41(6):137-138.Ou Y G,Wang J X,Xu C,et al.Application of Un-calibrated Visual Servo in Crawling Object with Dexterous Hand[J].Mechanical Engineering and Automation,2012,41(6):137-138.
[20]Damm M,Leitner S H,Mahnke W.OPC Unified Architecture[J].at-Automatisierungstechnik,2011,59(7):397-405.
[21]韩海.运动目标检测与跟踪系统的嵌入式实现[D].大连理工大学,2009.Han H.The Embedded Implementation of Moving Object Detecting and Tracking System[D].Dalian University of Technology,2009.
[2]Dong J,Jia X,Zhang X.Artificial Neural Network Based Control Strategy Research and Simulation on Robot Uncalibrated Visual Servoing System[C].Sino-Foreign-Interchange Conference on Intelligent Science and Intelligent Data Engineering.2012:817-824.
[3]赵喜锋,杜向党,巩静静,等.基于动态目标的机器人无标定视觉伺服系统仿真[J].机床与液压,2012,40(11):116-119.Zhao X F,Du X D,Gong J J,et al.Simulation of Image-based Robot Visual Servo System for Dynamic Object[J].Machine Tool&Hydraulics,2012,40(11):116-119.
[4]杨钊,王建华,吴玉平.基于模糊PID的无人水面艇直线路径跟踪[J].计算机工程,2014,40(10):270-274.Yang Z,Wang J H,Wu Y P.Straight Line Path Following of Unmanned Surface Vessel Based on Fuzzy PID[J].Computer Engineering,2014,40(10):270-274.
[5]高凯亮,覃团发,王逸之,等.一种基于帧差法与背景减法的运动目标检测新方法[J].电讯技术,2011,51(10):86-91.Gao K L,Qin T F,Wang Y Z,et al.A Novel Approach for Moving Objects Detection Based on Frames Subtraction and Background Subtraction[J].Telecommunications Technology,2011,51(10):86-91.
[6]苏礼坤,黄继红.基于帧间差分的彩色视频背景提取[J].成都信息工程学院学报,2010,25(2):167-171.Su L K,Huang J H.Background Extraction of Color Video Based on the Frame-Difference[J].Chinese Journal of Information Engineering,2010,25(2):167-171.
[7]李娜,王维哲,赵伟.高速移动图像丢帧误差的矫正方法研究[J].控制工程,2015,22(6):1196-1200.Li N,Wang W Z,Zhao W.High-speed Mobile Image Frame Error Correction Method[J].Control Engineering,2015,22(6):1196-1200.
[8]於正强,潘赟,宦若虹.一种结合帧差法和混合高斯的运动检测算法[J].计算机应用与软件,2015,32(4):129-132.Yu Z Q,Pan Y,Huan R H.An Motion Detection Algorithm Combining Frame Difference Method and Mixed Gaussian Motion[J].Journal of Computer Applications and Software,2015,32(4):129-132.
[9]陈立松.工业机器人视觉引导关键技术的研究[D].合肥工业大学,2013.Chen L S.Research on Vision Guiding Key Technique of Industrial Robot[D].Hefei University of Technology,2013.
[10]谢之宇,蒋晓瑜,汪熙,等.改进的帧差法在目标匹配中的应用[J].计算机工程与应用,2011,47(34):208-211.XIE Z Y,JIANG X Y,WANG X,et al.Improved Frame Difference Algorithm in Application of Target-matching.Computer Engineering and Applications,2011,47(34):208-211.
[11]Oliveira T R,Peixoto A J,Leite A C,et al.Sliding Mode Control of Uncertain Multivariable Nonlinear Systems Applied to Uncalibrated Robotics Visual Servoing[C].American Control Conference.IEEE,2009:71-76.
[12]李庆春,沈德耀.一种新型的二维PID模糊控制器[J].控制工程,2011,18(4):623-626.Li Q C,Shen D Y.A New Two-Dimensional PID Fuzzy Controller[J].Control Engineering,2011,18(4):623-626.
[13]罗新波.基站用相变储能空调机组性能预测及控制仿真研究[D].湖南大学,2015.Luo X B.Study on Performance Prediction and Control Simulation of Air Conditioner Using Phase Change Energy Storage Unit in Telecommunication Base Station[D].Hunan University,2015.
[14]胡春华,马旭东,戴先中.一种基于行为的移动机器人目标人跟踪控制方法[J].控制工程,2011,18(2):318-321.Hu C H,Ma X D,Dai X Z.A Robust Person Following Control Method for Behavior-Based Mobile Robot[J].Control Engineering,2011,18(2):318-321.
[15]管欣,洪峰,贾鑫,等.汽车驾驶模拟器视觉系统传输延迟补偿[J].吉林大学学报(工),2017,47(1):28-34.Guan X,Hong F,Jia X,et al.Compensation for Transport Delay of Vision System in Driving Simulator[J].Journal of Jilin University,2017,47(1):28-34.
[16]Chang W C,Wu C H.Eye-in-hand Vision-Based Robotic Bin-Picking with Active Laser Projection[J].The International Journal of Advanced Manufacturing Technology,2016,85(9):2873-2885.
[17]刘绵.无标定视觉伺服控制系统的研究[D].燕山大学,2011.Liu M.Research of Un-Calibrated Visual Servoing Robot Control System[D].Yanshan University,2011.
[18]陈学昂.台达NC300数控系统在无人车间的应用[J].机器人技术与应用,2014,27(1):71-73.Chen X A.Delta NC300 Numerical Control System in the Unmanned Workshop Application[J].Robotics Technology and Application,2014,27(1):71-73.
[19]欧阳格,王家序,徐超,等.无标定视觉伺服系统在灵巧手抓取目标时的应用[J].机械工程与自动化,2012,41(6):137-138.Ou Y G,Wang J X,Xu C,et al.Application of Un-calibrated Visual Servo in Crawling Object with Dexterous Hand[J].Mechanical Engineering and Automation,2012,41(6):137-138.
[20]Damm M,Leitner S H,Mahnke W.OPC Unified Architecture[J].at-Automatisierungstechnik,2011,59(7):397-405.
[21]韩海.运动目标检测与跟踪系统的嵌入式实现[D].大连理工大学,2009.Han H.The Embedded Implementation of Moving Object Detecting and Tracking System[D].Dalian University of Technology,2009.