微操作机器人的视觉伺服控制

视觉伺服控制是微操作机器人实现精确运动，完成自动操作的必要手段．本文介绍 了实现微操作机器人视觉伺服控制的方法．首先论述了微操作机器人的视觉伺服结构，并以 建立的面向生物工程的双手微操作机器人系统为例，介绍了基于二维显微视觉信息的三自由 度柔性铰链微操作机器人的运动学建模方法，针对压电驱动器控制器的特点提出了基本的PI D视觉伺服控制规律实现方法，并进行了点到点运动和圆轨迹跟踪实验．实验结果表明，视 觉伺服控制克服了由于标定以及环境等因素导致的运动模型不准确而引入的误差．

VISUAL SERVO CONTROL OF ROBOTIC MICROMANIPULATOR

Visual servo control is necessary for micromanipulator so as to achieve accurate motion and automatic manipulation. This paper investigates the method for implementing visual servo control of robotic micromanipulator. Firstly, the visual servo architecture suitable for micromanipulator is discussed. Then the system model for a 3DOF flexible joint based micromanipulator with 2 D micro vision is built aiming at the dual hand robotic micromanipulation system for bioengineering. According to the characteristics of piezoelectric actuator controller, the implementation method for a kind of PID visual servo control law is proposed. In the experiments concerning point to point motion and circle trajectory tracking, it was demonstrated that the kinematic model errors caused by such factors as rough calibration and environmental varieties are complemented by visual servo control.