柔性机械手定位系统的研究
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摘要
在机械手执行任务的过程中,控制机械手定位到目标位置是一个非常关键的问题,要想对机械手进行有效的控制,首先要对它进行精确的定位。本文采用了距离和图像复合测量的方法对机械手分别进行空间和平面姿态定位。
为使超声波测距适应在强干扰工业环境中测量机械手空间位置,采用了互相关原理检测回波信号延迟时间来测量距离的方法。该方法具有很强的抗噪声干扰的性能。为减少计算量并提高离散化的互相关函数分辨率和精度,采用了三点确定抛物线顶点的方法,计算出互相关函数最大值的精确位置,从而确定出回波的时间,使得单次测量空间距离的精度可达士0.12%。提出并验证了在减小采集密度的情况下在离散化的最大值附近,采用三点确定抛物线顶点的方法计算互相关函数最大值是一种具有实时性高、抗干扰性能好的复合测量方法。
在机械手平面定位系统中,图像处理是核心部分,本文针对实际的目标图像,通过对其进行图像预处理,再经边缘检测和应用稳健的直线拟合算法求得定位点的坐标和相对偏转角度,获得图像定位的信息。经验证符合设计要求,达到了实际应用的精度。
As the robot is implementing tasks, it is essential to control the orientation to object position. Prise orientation is the premise of controlling the robot effectively. The compound measurement of distance and image is adopted for space orientation and plane orientation separately.
The paper introduces a method of applying cross-correlation principle to detect the delay time of echo signal. This method has excellent performance in rejecting noise interference. To increase resolution and accuracy of discrete cross-correlation function the method of finding peak point of the parabola by three discrete sample data is used, it can calculate accurate position of maximum of cross-correlation function, thus the return time of echo signal is obtained. And the precision of distance value is up to±0.12%. We present and validate that the maximum of cross-correlation function is confirmed by calculating the peak of parabola through the coordinates of three points. Image processing is the hard-core in the visual orientation system of the robot. In this paper, the practical object image is inputted and dealt with. Through checking the edge of image and applying the least square method, we obtain the coordinates of the anchor point and the relative deflexion angle. It is proved that the result of this design accords with the practical request.
为使超声波测距适应在强干扰工业环境中测量机械手空间位置,采用了互相关原理检测回波信号延迟时间来测量距离的方法。该方法具有很强的抗噪声干扰的性能。为减少计算量并提高离散化的互相关函数分辨率和精度,采用了三点确定抛物线顶点的方法,计算出互相关函数最大值的精确位置,从而确定出回波的时间,使得单次测量空间距离的精度可达士0.12%。提出并验证了在减小采集密度的情况下在离散化的最大值附近,采用三点确定抛物线顶点的方法计算互相关函数最大值是一种具有实时性高、抗干扰性能好的复合测量方法。
在机械手平面定位系统中,图像处理是核心部分,本文针对实际的目标图像,通过对其进行图像预处理,再经边缘检测和应用稳健的直线拟合算法求得定位点的坐标和相对偏转角度,获得图像定位的信息。经验证符合设计要求,达到了实际应用的精度。
As the robot is implementing tasks, it is essential to control the orientation to object position. Prise orientation is the premise of controlling the robot effectively. The compound measurement of distance and image is adopted for space orientation and plane orientation separately.
The paper introduces a method of applying cross-correlation principle to detect the delay time of echo signal. This method has excellent performance in rejecting noise interference. To increase resolution and accuracy of discrete cross-correlation function the method of finding peak point of the parabola by three discrete sample data is used, it can calculate accurate position of maximum of cross-correlation function, thus the return time of echo signal is obtained. And the precision of distance value is up to±0.12%. We present and validate that the maximum of cross-correlation function is confirmed by calculating the peak of parabola through the coordinates of three points. Image processing is the hard-core in the visual orientation system of the robot. In this paper, the practical object image is inputted and dealt with. Through checking the edge of image and applying the least square method, we obtain the coordinates of the anchor point and the relative deflexion angle. It is proved that the result of this design accords with the practical request.
引文
[1]叶月萍,柔性机械手姿态的图像识别,硕士,吉林大学,2005
[2]马益清,柔性机械手的神经模糊控制,万方数据,2003
[3]Milan Sonka,图像处理、分析与机器视觉,人民邮电出版社,2003
[4]熊有伦,丁汉,刘恩沧,机器人学,机械工业出版社,1993
[5]Martins H A,Birk J R,Kelley R B,Camera models based to data from two calibration planes,Computer Graphics and Imaging Processing,1981,17
[6]胡劲草,基于超声波测距技术的自主式移动机器人导航系统研究,硕士,武汉理工大学,2007
[7]罗志增,机器人多感觉传感器系统与多信息融合技术,博士,浙江大学,1998
[8]Vukobratovic,Miomir,Accuracy of the robot positioning and orientation assessed via its manufacturing tolerances,Mechanism & Machine Theory,v 30,n 1,Jan,1995,11-32
[9]Lebastard,Observer-based control of a walking biped robot without orientation measurement,Robotica,v 24,n 3,May,2006,385-400
[10]Song,Yuee,An approach to measurement of position and orientation of robot Proceedings of the Second International Symposium on Instrumentation Science and Technology,v 1,2002,829-833
[11]Aoyagi,Seiji,Measurement of 3-D position and orientation of a robot using ultrasonic waves Source:IECON Proceedings(Industrial Electronics Conference),v 3,1991,2466-2471
[12]杨纪春、张启忠、罗志增,“机器人感知系统中的传感器信息融合技术”《第四届全国计算机应用联合学术会议》,1997.5,北京:490-493
[13].杭州电子工业学院机器人所,《自适应抓取研究》,鉴定资料,1990
[14]Mount,Efficient algorithms for robust feature matching,Pattern Recognition,32(1),1999:17-38.
[15]陈启军,王月娟,陈辉堂,基于PD控制的机器人轨迹跟踪性能研究与比较,控制与决策,18(1),2003:53-57.
[16]孙迪生,王炎,机器人控制技术,北京:机械工业出版社,1997.
[17]Chris Stauffer,W.Eric,L.Grimson.Learning Patterns on Activity Using Real-Time Tracking.IEEE Transactions on Pattern Analysis and Machine Intelligence,Vol.22,No8,Aug.2000:747-757
[18]陈维明,陈维南,冯纯伯视觉和超声波信息的融合与机器人伺服控制的研究机器人,1994(1),81-83
[19]Daniel E.Whitney.Historical Perspective International Journal of Robotics Research State of the Art in Robot Force Control.Vol.6,No.1,1987,3-14
[20]赵广涛,程荫杭.基于超声波传感器的测距系统设计.微计算机信息,22(1-1),2006,129-130.
[21]史亦韦.超声检测.北京:机械工业出版社,2005:4-35
[22]潘仲明.大量程超声波测距系统研究:[博士学位论文].长沙:国防科学技术大学,2006.
[23]许天增,许克平等.超声传输特性和超声传感系统研究.厦门大学学报(自然科学版),2001(2):303-310.
[24]C8051F124技术手册,新华龙电子有限公司,2006
[25]朱定华.单片机原理及接口技术[M].北京:电子工业出版社,2001.
[26]葛万成、吴凤萍,两步相关法高抗干扰超声波距离测量技术研究.仪器仪表学报,2002,23(3):253-256.
[27]童峰,许天增.一种用于移动机器人导航的全向高精度超声测距处理方法.中南工业大学学报,2000,31:292-294.
[28]徐岑安.相关流量测量技术,天津:天津大学出版社,1988.
[29]王智慧,王磊.互相关流量测量的原理及算法研究.西北工业大学学报,1999,17(3),28-32.
[30]郑方,徐明星.信号处理原理.北京:清华大学出版社,2003.
[31]徐科军,全书海,王建华.信号处理技术.武汉:武汉理工大学出版社,2001.
[32]王世一.数字信号处理。北京:北京理工大学出版社,1997.
[33](英)Andrew Bateman,Iain Paterson-Stephens.DSP算法、应用与设计.陈健,陈伟,汪书宁 等译。北京:机械工业出版社,2003.
[34]Chris Stauffer,W.E.L.Grimson.Adaptive Background Mixture Models for Real-Time Tracking.IEEE Computer Vision and Pattern Recognition,June 1999:246-252
[35]孙兆林,MATLAB6.x图像处理,清华大学出版社,2002
[36]]董长虹,Matlab图像处理与应用,国防工业出版社,2004
[37]周金萍,MATLAB6.5图形图像处理与应用,科学出版社,2003
[38]余成波,数字图像处理及MALLAB实现,重庆大学出版社,2003
[39]陈希孺,概率论与数理统计,科学出版社 中国科学技术大学出版社,2000.
[40]蒲俊,MATLAB6.0数学手册,浦东电子出版社,2002
[41]胡奖萍,谭耀刚,用VB与Matlab开发动态图像处理软件的方法[[J武汉理下大学学报信息管理工程版,2003,25(1):32-34.
[42]董长虹,Matlab图像处理与应用,国防工业出版社,2004
[43]冯正全,COM原理概述,成都信息工程学院学报,2004,19(3),398-402
[44]史玉峰,Matlab与Visual Basic相结合及其在测绘数据处理中的应用,计算机工程与应用,2002,22:17-19.
[2]马益清,柔性机械手的神经模糊控制,万方数据,2003
[3]Milan Sonka,图像处理、分析与机器视觉,人民邮电出版社,2003
[4]熊有伦,丁汉,刘恩沧,机器人学,机械工业出版社,1993
[5]Martins H A,Birk J R,Kelley R B,Camera models based to data from two calibration planes,Computer Graphics and Imaging Processing,1981,17
[6]胡劲草,基于超声波测距技术的自主式移动机器人导航系统研究,硕士,武汉理工大学,2007
[7]罗志增,机器人多感觉传感器系统与多信息融合技术,博士,浙江大学,1998
[8]Vukobratovic,Miomir,Accuracy of the robot positioning and orientation assessed via its manufacturing tolerances,Mechanism & Machine Theory,v 30,n 1,Jan,1995,11-32
[9]Lebastard,Observer-based control of a walking biped robot without orientation measurement,Robotica,v 24,n 3,May,2006,385-400
[10]Song,Yuee,An approach to measurement of position and orientation of robot Proceedings of the Second International Symposium on Instrumentation Science and Technology,v 1,2002,829-833
[11]Aoyagi,Seiji,Measurement of 3-D position and orientation of a robot using ultrasonic waves Source:IECON Proceedings(Industrial Electronics Conference),v 3,1991,2466-2471
[12]杨纪春、张启忠、罗志增,“机器人感知系统中的传感器信息融合技术”《第四届全国计算机应用联合学术会议》,1997.5,北京:490-493
[13].杭州电子工业学院机器人所,《自适应抓取研究》,鉴定资料,1990
[14]Mount,Efficient algorithms for robust feature matching,Pattern Recognition,32(1),1999:17-38.
[15]陈启军,王月娟,陈辉堂,基于PD控制的机器人轨迹跟踪性能研究与比较,控制与决策,18(1),2003:53-57.
[16]孙迪生,王炎,机器人控制技术,北京:机械工业出版社,1997.
[17]Chris Stauffer,W.Eric,L.Grimson.Learning Patterns on Activity Using Real-Time Tracking.IEEE Transactions on Pattern Analysis and Machine Intelligence,Vol.22,No8,Aug.2000:747-757
[18]陈维明,陈维南,冯纯伯视觉和超声波信息的融合与机器人伺服控制的研究机器人,1994(1),81-83
[19]Daniel E.Whitney.Historical Perspective International Journal of Robotics Research State of the Art in Robot Force Control.Vol.6,No.1,1987,3-14
[20]赵广涛,程荫杭.基于超声波传感器的测距系统设计.微计算机信息,22(1-1),2006,129-130.
[21]史亦韦.超声检测.北京:机械工业出版社,2005:4-35
[22]潘仲明.大量程超声波测距系统研究:[博士学位论文].长沙:国防科学技术大学,2006.
[23]许天增,许克平等.超声传输特性和超声传感系统研究.厦门大学学报(自然科学版),2001(2):303-310.
[24]C8051F124技术手册,新华龙电子有限公司,2006
[25]朱定华.单片机原理及接口技术[M].北京:电子工业出版社,2001.
[26]葛万成、吴凤萍,两步相关法高抗干扰超声波距离测量技术研究.仪器仪表学报,2002,23(3):253-256.
[27]童峰,许天增.一种用于移动机器人导航的全向高精度超声测距处理方法.中南工业大学学报,2000,31:292-294.
[28]徐岑安.相关流量测量技术,天津:天津大学出版社,1988.
[29]王智慧,王磊.互相关流量测量的原理及算法研究.西北工业大学学报,1999,17(3),28-32.
[30]郑方,徐明星.信号处理原理.北京:清华大学出版社,2003.
[31]徐科军,全书海,王建华.信号处理技术.武汉:武汉理工大学出版社,2001.
[32]王世一.数字信号处理。北京:北京理工大学出版社,1997.
[33](英)Andrew Bateman,Iain Paterson-Stephens.DSP算法、应用与设计.陈健,陈伟,汪书宁 等译。北京:机械工业出版社,2003.
[34]Chris Stauffer,W.E.L.Grimson.Adaptive Background Mixture Models for Real-Time Tracking.IEEE Computer Vision and Pattern Recognition,June 1999:246-252
[35]孙兆林,MATLAB6.x图像处理,清华大学出版社,2002
[36]]董长虹,Matlab图像处理与应用,国防工业出版社,2004
[37]周金萍,MATLAB6.5图形图像处理与应用,科学出版社,2003
[38]余成波,数字图像处理及MALLAB实现,重庆大学出版社,2003
[39]陈希孺,概率论与数理统计,科学出版社 中国科学技术大学出版社,2000.
[40]蒲俊,MATLAB6.0数学手册,浦东电子出版社,2002
[41]胡奖萍,谭耀刚,用VB与Matlab开发动态图像处理软件的方法[[J武汉理下大学学报信息管理工程版,2003,25(1):32-34.
[42]董长虹,Matlab图像处理与应用,国防工业出版社,2004
[43]冯正全,COM原理概述,成都信息工程学院学报,2004,19(3),398-402
[44]史玉峰,Matlab与Visual Basic相结合及其在测绘数据处理中的应用,计算机工程与应用,2002,22:17-19.