共查询到20条相似文献,搜索用时 171 毫秒
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针对微操作机器人在视觉伺服过程中图像清晰度判定问题,提出了基于小波包分解的图像清晰度判定方法。介绍了微操作显微视觉系统的特点,构造了基于小波包重构信号能量的图像清晰度判定特征向量.并建立了线性图像清晰度分类器。采用Fisher准则确定分类器的权向量和分界点阈值。实验数据验证了该分类器的有效性。 相似文献
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传统的机器人视觉伺服控制技术需要已知机器人精确的动力学和运动学模型以及机器人的手-眼参数。然而,由于机器人建模、手-眼标定等过程存在一定误差,因此很难精确获得视觉伺服控制模型,从而影响机器人视觉伺服系统的精度和收敛速度。针对这一难题,本文提出一种基于无模型自适应控制方法(MFAC)的机器人视觉伺服技术。利用视觉伺服系统的输入与输出数据,实现自适应视觉伺服控制,即通过MFAC在线估计机器人伺服控制器中的雅各比矩阵,并结合滑模控制器,实现机器人对目标的快速精确跟踪。实验结果表明,本文提出的方法在系统参数变化引起的未知扰动情况下仍能保证伺服控制器平稳收敛,并且能够减小视觉跟踪误差。 相似文献
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不需要标定系统模型的"眼在手上"视觉伺服控制技术 总被引:1,自引:0,他引:1
工业实践中不可能精确地标定摄像机和机器人模型,但当前的视觉伺服控制都需要标定系统模型.针对这一现象,提出一种新颖的、能应用于“眼在手上”视觉伺服控制结构的动态无标定的视觉伺服控制算法,无需标定摄像机和机器人运动学模型即可跟踪运动物体,通过将非线性目标函数最小化,以视觉信息跟踪动态图像.针对目前视觉伺服控制系统中“眼在手上”系统的复合雅克比矩阵随每个时间增量的变化无法计算的现象,提出了对每一时间增量时刻的图像雅克比矩阵的变化做出估计的方法,仿真实验证明了上述方法的正确性和有效性. 相似文献
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微操作机器人控制系统下位机的设计 总被引:4,自引:1,他引:3
微操作机器人是智能机器人研究的一个重要领域.本文比较详细地介绍了微操作
机器人控制系统下位机的硬件设计与软件实现.并用该控制系统做了生物细胞的搬运实验,
结果表明我们设计的下位机运行稳定、可靠,满足生物实验的精度要求. 相似文献
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Gangqi Dong 《Advanced Robotics》2016,30(22):1458-1465
This paper develops a new autonomous incremental visual servo control law for the robotic manipulator to capture a non-cooperative target, where the control input is the incremental joint angle to avoid the multiple solutions in the existing inverse kinematics. The position and motion of the non-cooperative target are estimated by an eye-to-hand vision system in real time by integrated photogrammetry and extended Kalman filter. The estimated position and motion of the target are fed into the newly developed position-based visual servo control law to drive the manipulator incrementally towards the dynamically predicted interception point between trajectories of the end effector and the target. To validate the proposed approach, a hardware-in-the-loop simulation has been conducted where the position and motion of the target is estimated by a real eye-to-hand camera and fed into the simulation of the robotic manipulator. The simulation results show the proposed incremental visual servo control law is stable and able to avoid the multiple solutions in the total inverse kinematics. 相似文献
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A visual servo control system with SOPC structure is implemented on a retrofitted Mitsubishi Movemaster RV-M2 robotic system.
The hardware circuit has the functions of quadrature encoder decoding, limit switch detecting, pulse width modulation (PWM)
generating and CMOS image signal capturing. The software embedded in Nios II micro processor has the functions of using UART
to communicate with PC, robotic inverse kinematics calculation, robotic motion control schemes, digital image processing and
gobang game AI algorithms. The digital hardware circuits are designed by using Verilog language, and programs in Nios II micro
processor are coded with C language. An Altera Statrix II EP2S60F672C5Es FPGA chip is adopted as the main CPU of the development
board. A CMOS color image sensor with 356 ×292 pixels resolution is selected to catch the environment time-varying change
for robotic vision-based servo control. The system performance is evaluated by experimental tests. A gobang game is planned
to reveal the visual servo robotic motion control objective in non-autonomous environment. Here, a model-free intelligent
self-organizing fuzzy control strategy is employed to design the robotic joint controller. A vision based trajectory planning
algorithm is designed to calculate the desired angular positions or trajectory on-line of each robotic joint. The experimental
results show that this visual servo control robot has reliable control actions. 相似文献
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Qingsong Xu Yangmin Li Ning Xi 《Automation Science and Engineering, IEEE Transactions on》2009,6(4):710-719
This paper presents a complete design and development procedure of a new XY micromanipulator for two-dimensional (2-D) micromanipulation applications. The manipulator possesses both a nearly decoupled motion and a simple structure, which is featured with parallel-kinematic architecture, flexure hinge-based joints, and piezoelectric actuation. Based on pseudo-rigid-body (PRB) simplification approach, the mathematical models predicting kinematics, statics, and dynamics of the XY stage have been obtained, which are verified by the finite-element analysis (FEA) and then integrated into dimension optimization via the particle swarm optimization (PSO) method. Moreover, a prototype of the micromanipulator is fabricated and calibrated using a microscope vision system, and visual servo control employing a modified PD controller is implemented for the accuracy improvement. The experiments discover that a workspace size of 260 mum times 260 mum with a 2-D positioning accuracy and repeatability around 0.73 and 1.02 mum, respectively, can be achieved by the micromanipulator. 相似文献
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Dong Liu Ming Cong Yu Du Yunfei Zhang Clarence W. de Silva 《International Journal of Control, Automation and Systems》2013,11(6):1241-1252
This paper proposes a visual attention servo control (VASC) method which uses the Gaussian mixture model (GMM) for task-specific applications of mobile robots. In particular, low dimensional bias feature template is obtained using GMM to get an efficient attention process. An image-based visual servo (IBVS) controller is used to search for a desired object in a scene through an attention system which forms a task-specific state representation of the environment. First, task definition and object representation in semantic memory (SM) are proposed, and bias feature template is obtained using GMM deduction for features from high dimension to low dimension. Second, the features intensity, color, size and orientation are extracted to build the feature set. Mean shift method is used to segment the visual scene into discrete proto-objects. Given a task-specific object, top-down bias attention is evaluated to generate the saliency map by combining with the bottom-up saliency-based attention. Third, a visual attention servo controller is developed to integrate the IBVS controller and the attention system for robotic cognitive control. A rule-based arbitrator is proposed to switch between the episodic memory (EM)-based controller and the IBVS controller depending on whether the robot obtains the desired attention point on the image. Finally, the proposed method is evaluated on task-specific object detection under different conditions and visual attention servo tasks. The obtained results validate the applicability and usefulness of the developed method for robotics. 相似文献
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基于动态Snake模型的机械手运动轨迹视觉跟踪 总被引:1,自引:1,他引:0
针对机械手运动在图像序列空间的轨迹分布,提出一种基于时空轨迹线的动态Snake跟踪模型.定义相应的能量函数,可使其在机械手轨迹分布上取得极小,通过Snake能量的轨迹收敛实现对机械手运动点的跟踪定位.利用轨迹能量系数的动态调节,可避免Snake搜索过程陷入局部极小.使用平方轨迹最小二乘预测器对轨迹点位置进行预测,可提高Snake搜索的实时性和准确性.微装配机械手运动实验证明了该模型及跟踪算法的有效性. 相似文献
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根据小脑模型关联控制器(CMAC)收敛速度快,适于实时控制系统的特点,设计了一种基于CMAC学习控制方法的机器人视觉伺服系统。在该系统中,CMAC被用作前馈视觉控制器对常规反馈控制器进行补偿。所提出的CMAC控制器替代图像雅可比矩阵来获得目标图像特征和机器人关节运动之间2D/3D变换关系,通过其在线学习,可以使系统对摄像机标定误差不敏感,从而提高系统的鲁棒性。实验证明了所设计控制系统的有效性。 相似文献
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基于图像的视觉伺服机器人控制方法通过机器人的视觉获取图像信息,然后形成基于图像信息的闭环反馈来控制机器人的合理运动.经典视觉伺服的伺服增益的选取在大多数条件下是人工赋值的,故存在鲁棒性差、收敛速度慢等问题.针对该问题,提出一种基于Dyna-Q的旋翼无人机视觉伺服智能控制方法调节伺服增益以提高其自适应性.首先,使用基于费尔曼链码的图像特征提取算法提取目标特征点;然后,使用基于图像的视觉伺服形成特征误差的闭环控制;其次,针对旋翼无人机强耦合欠驱动的动力学特性提出一种解耦的视觉伺服控制模型;最后,建立使用Dyna-Q学习调节伺服增益的强化学习模型,通过训练可以使得旋翼无人机自主选择伺服增益.Dyna-Q学习在经典的Q学习的基础上通过建立环境模型来存储经验,环境模型产生的虚拟样本可以作为学习样本来进行值函数的迭代.实验结果表明,所提出的方法相比于传统控制方法PID控制以及经典的基于图像视觉伺服方法具有收敛速度快、稳定性高的优势. 相似文献