一种位置和图像相切换的视觉伺服仿真分析  

Simulation Analysis of Robot Visual Servo Based on Position and Image Switching

作　　者：徐冰辉 张磊[1] 姚兴田[1] 苏波泳 XU Bing-hui;ZHANG Lei;YAO Xing-tian;SU Bo-yong(Nantong University,School of Mechanical Engineering,Jiangsu Nantong 226019,China)

机构地区：[1]南通大学机械工程学院,江苏南通226019

出　　处：《机械设计与制造》2023年第2期295-298,304,共5页Machinery Design & Manufacture

基　　金：南通市应用研究计划项目(GY12017017)。

摘　　要：视觉伺服抓取通常将相机采集的当前图像特征与期望图像特征之间的偏差作为输入信号,通过图像处理、视觉伺服策略等使机械手能够运动到期望位姿。传统的基于位置或基于图像的视觉伺服存在各自的缺点,这里在视觉伺服控制方面,结合位置视觉伺服收敛速度快以及图像视觉伺服精度高的优点,研究了基于位置和基于图像的切换视觉伺服方法。以机械手坐标系原点与期望位姿坐标系原点在世界坐标系下的距离作为视觉伺服切换的阈值,通过对切换视觉伺服方法的仿真分析,验证了该方法在前半程可以快速达到物体附近,后半程利用图像伺服可以使机械手精确到达期望位置。Visual servo grabbing usually takes the deviation of feature between the current image acquired by the camera and the desired image as the input signal.Through image processing,visual servo strategy and so on,the manipulator is able to move to the desired position.As traditional position-based or image-based visual servos have their own shortcomings,so,the switching visual servo method based on position and image has been studied in this paper by combining the advantages of fast convergence speed and high precision of image visual servo in the aspect of visual servo control.The distance between the origin of manipulator coordinate system and the desired pose coordinate system in the world coordinate system was taken as the threshold value of visual servo switching.Through the simulation analysis of the switching visual servo technology,the method has been proved that it can reach the vicinity of the object quickly in the first half,then the robot can reach the desired position accurately in the second half of the way by using image servo.

关 键 词：视觉机器人 视觉抓取 切换视觉伺服 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]