基于模糊趋近的移动机械臂目标抓取方法  

An object grasping method based on fuzzy approaching for a mobile manipulator

作　　者：焦继乐[1] 曹志强[1] 赵鹏[1] 谭民[1] 

机构地区：[1]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期47-50,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61273352;61175111;61227804;60805038)

摘　　要：提出了一种基于模糊趋近的移动机械臂目标抓取方法.移动机械臂采用Eye-in-Hand方式的CMOS视觉系统,视觉识别双十字的趋近指引标识,将移动平台与其中心点的连线方向和移动平台运动方向的夹角作为模糊控制器的输入,设计双输入单输出模糊控制器,通过对移动平台运动方向的调整实现移动机械臂对目标的趋近;目标为双黑线环绕的红色圆柱,当目标在机械臂的可操作范围内,移动平台停止运动并基于逆向运动学求解机械臂各关节角,进而实现目标抓取.实验表明了所提方法的有效性.An object grasping method based on fuzzy approaching for a mobile manipulator with an Eye-in-Hand CMOS(complementry metal-oxide-semiconductor transistor)camera was proposed.The approaching guidance identifier with double cross was recognized by the mobile manipulator,and the angle between the line from mobile platform to the center of the identifier and its heading direction were served as the inputs of fuzzy controller.A double input and single output fuzzy controller was designed to regulate the direction of the mobile platform for smooth approaching.When the object(a red cylinder with double black lines)was in the workspace of manipulator,the mobile platform stops and the object was grasped by the manipulator with its joint angles solved based on inverse kinematics.Experiments results show the validity of the proposed approach.

关 键 词：移动机械臂 CMOS摄像头 视觉处理 模糊控制 目标趋近 目标抓取 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]