毫米级全方位微装配机器人的识别、定位及运动控制  

Recognition,Localization and Motion Control of a Millimeter-Scaled Omnidirectional Microrobot for Microassembly

作　　者：李江昊[1,2] 陈佳品[2] 李振波[2] 

机构地区：[1]燕山大学信息科学与工程学院,河北秦皇岛066004 [2]上海交通大学微纳科学技术研究院薄膜与微细技术教育部重点实验室,上海200240

出　　处：《电光与控制》2009年第6期72-76,共5页Electronics Optics & Control

基　　金：国家"八六三"项目(2007AA04Z340);教育部博士点基金(20060248057)

摘　　要：介绍了一种毫米级全方位微机器人,设计用于微型工厂中的微装配操作。采用外部计算机视觉系统进行监控,先利用CCD摄像头捕捉微型机器人顶部及夹钳上的特征标志,再通过设计的视觉处理方法,实现了对微机器人的高精度识别和定位。在利用计算机视觉进行反馈控制的基础上,采用了对装配平台进行分区、快速前进与高精度步进相结合的运动控制策略,实现高精度的微装配任务。实验验证了以上方法和策略的有效性。A millimeter-scaled omnidirectional microrobot designed for microassembly in a microfactory is presented in this paper. The microrobot is supervised by an external computer vision system. Its recognition and localization are realized precisely, through capturing the signs on the microrobot top and the micro-gripper by CCD cameras firstly, and then through the designed vision process methods. Based on the feedback control of computer vision, a precise microassembly task is achieved by the designed motion control strategies, such as the division of the microassembly platform, and the combination of fast movement and precise step movement. The validity of the methods and strategies above are demonstrated by the experiment.

关 键 词：微装配 移动微机器人 识别 定位 运动控制 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计] TP242[自动化与计算机技术—检测技术与自动化装置]