机器人轨线跟踪的视觉与控制集成方法  

INTEGRATION OF VISION AND CONTROL FOR ROBOT CURVE TRACKING

作　　者：蒋平[1] 林靖[1] 陈辉堂[1] 王月娟[1] 

机构地区：[1]同济大学电气系

出　　处：《自动化学报》1999年第1期18-24,共7页Acta Automatica Sinica

基　　金：国家教委博士点基金

摘　　要：针对视觉引导的机器人轨线跟踪控制问题，结合视觉传感器的测量特点提出了视觉与控制集成的控制方案，在跟踪轨线切向实现等速度控制，而在法向实现位置控制，这一法向位置误差容易由采样图象直接获得，采用一并行控制器可实现伺服级上的视觉引导，使系统跟踪性能得到明显提高，在小视场条件下（２６．４ｍｍ×２６．４ｍｍ）跟踪速度达到２５０ｍｍ／ｓ．Aiming at high speed visual tracking,this paper presents a new control scheme from the point of integration of vision and control.To track a curve,the control is decomposed into two subfunctions.One is the velocity control which controls the center of a CCD camera to move along the tangential direction of the curve.The other is the position control which controls the cneter of the CCD camera to move in the normal direction approaching to the curve.In order to improve the tracking performances,the proposed control scheme was realized in servo rate by the aid of a transputer based parallel controller.The tracking speed reached 250mm/s with a small field of view(26 4mm×26 4mm).

关 键 词：视觉伺服 轨线跟踪 直接驱动机器人 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]