基于力和视觉的机械手未知平面内曲线跟踪  

Robot Manipulator Curve Tracking in an Uncertain Plane Based on Force and Vision Sensing

作　　者：邱联奎[1] 张艳霞[1,2] 

机构地区：[1]河南科技大学,河南洛阳471003 [2]河南广播电视大学,郑州450046

出　　处：《火力与指挥控制》2013年第9期42-46,共5页Fire Control & Command Control

基　　金：国家自然科学基金(60904023);河南科技大学自然科学研究基金(2007ZY056);河南科技大学博士人才基金资助项目(09001139)

摘　　要：针对工业机械手对未知平面内轨迹的跟踪和恒定接触力控制,给出了一种视觉和力觉混合的伺服控制策略。采用基于双目立体视觉eye-to-hand配置下的图像视觉伺服方法,构建PID控制器,实现对机械手在平行于平面方向上的运动控制。采用力传感器感知末端执行器与环境之间的接触力,采用PI控制器,实现了对末端执行器在垂直方向上的运动控制。在MATLAB环境中,利用机器人工具箱进行仿真实验,实现了对圆形曲线的跟踪控制,实验结果验证了方法的有效性。An force ＆ vision based control scheme is presented and demonstrated for industrial robot arm to track the curve in the uncertain plane and to keep the contact force constant at the same time. With the stereo vision eye-to-hand configuration, the image based vision servoing, with PID controller, is employed to control the end-effector＇s motions which are parallel to the plane surface. A force sensor is used to acquire the contact force information between the end-effector and the environment and the PD controller is used to control the end-effector＇s motion component which is vertical to the ground surface. Under the MATLAB, robotics toolbox and the circle tracking is realized. the simulations are conducted with using the This proposed approach is validated by those simulation results.

关 键 词：视觉伺服控制 机械手 力感知 视觉感知 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]