面向细长形物体的精密运动规划  

Precision movement regulation targeting thin-and-long objects

作　　者：吴班[1] 邢登鹏[2] WU Ban;XING Dengpeng(China Ship Development and Design Center,Wuhan 430064,China;Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China)

机构地区：[1]中国舰船研究设计中心,湖北武汉430064 [2]中国科学院自动化研究所,北京100190

出　　处：《华中科技大学学报（自然科学版）》2020年第11期43-47,59,共6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(61673382)。

摘　　要：提出了一类针对细长形物体的高精密操作的运动规划方法.首先建立了机械手与显微相机之间的坐标转换关系,以及对力坐标系与操作手之间的转换矩阵标定;再借助约束刚性多体模型构建物体与机械臂之间的运动学关系,提出了采用混合控制策略.利用力反馈确定物体姿态和物体参数,利用单目显微视觉反馈确定物体的位置信息,从而实现对细长形物体的高精密运动控制.实验结果验证了该方法的有效性.A motion regulation method for high precision manipulation of thin-and-long was proposed.First,the transitional relationship between the coordinates of manipulators and microscopes was modeled,and the rotational matrix between the coordinates of force sensor and manipulators was calibrated.Then,the kinematics relationship between the object and the manipulators was constructed in terms of multiple rigid constraint models.To realize the high precision manipulation of thin-and-long objects,a hybrid control strategy was presented,in which the force feedback was used to determine the object posture and parameters and the visual feedback from a monocular microscope was employed to regulate the object position.Experimental results verify the validity of the proposed method.

关 键 词：机器人运动规划 混合控制策略 高精密操作 细长形物体 视觉反馈 刚性多体模型 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]