机器人感知与控制关键技术及其智能制造应用  

Key Technologies of Robot Perception and Control and Its Intelligent Manufacturing Applications

作　　者：王耀南 江一鸣[1,3] 姜娇 张辉 谭浩然 彭伟星 吴昊天 曾凯 WANG Yao-Nan;JIANG Yi-Ming;JIANG Jiao;ZHANG Hui;TAN Hao-Ran;PENG Wei-Xing;WU Hao-Tian;ZENG Kai(National Engineering Research Center of Robot Visual Perception and Control Technology,Changsha 410082;College of Electrical and Information Engineering,Hunan University,Changsha 410082;School of Robotics,Hunan University,Changsha 410082)

机构地区：[1]机器人视觉感知与控制技术国家工程研究中心,长沙410082 [2]湖南大学电气与信息工程学院,长沙410082 [3]湖南大学机器人学院,长沙410082

出　　处：《自动化学报》2023年第3期494-513,共20页Acta Automatica Sinica

基　　金：国家自然科学基金(62293510,62027810,62003136,62103138,92148204);国家重点研发计划(2021YFB1714700,2021ZD0114503);湖南省创新型省份建设专项资金支持(2021GK1010,2021JJ10025);中国博士后科学基金(BX2021098);长沙市自然科学基金(kq2014060);广东省人工智能与数字经济实验室(深圳)开放研究基金(GMLKF-22-14);湘江实验室重大项目(22xj01006)资助。

摘　　要：智能机器人在服务国家重大需求,引领国民经济发展和保障国防安全中起到重要作用,被誉为“制造业皇冠顶端的明珠”.随着新一轮工业革命的到来,世界主要工业国家都开始加快机器人技术的战略部署.而智能机器人作为智能制造的重要载体,在深入实施制造强国战略,推动制造业的高端化、智能化、绿色化过程中将发挥重要作用.本文从智能机器人的感知与控制等关键技术的视角出发,重点阐述了机器人的三维环境感知、点云配准、位姿估计、任务规划、多机协同、柔顺控制、视觉伺服等共性关键技术的国内外发展现状.然后,以复杂曲面机器人三维测量、复杂部件机器人打磨、机器人力控智装配等机器人智能制造系统为例,阐述了机器人的智能制造的应用关键技术,并介绍了工程机械智能化无人工厂、无菌化机器人制药生产线等典型案例.最后探讨了智能制造机器人的发展趋势和所面临的挑战.Intelligent robots play an important role in serving the country's major demands,leading the development of the national economy and ensuring national defense security,which are known as“the top of the crown jewel in the manufacturing”.With the advent of a new round of industrial revolution,major industrial countries have begun to accelerate the deployment of robot technology.As an important carrier of intelligent manufacturing,intelligent robots can play an important role in the in-depth implementation of the manufacturing power strategy and the promotion of high-end,intelligent,and green manufacturing.From the perspective of key technologies of perception and control of intelligent robots,this paper briefly reviews the key technologies of robots such as 3D environment perception,point cloud registration,pose estimation,task planning,multi-machine collaboration,compliant control,and visual servoing.Then,the paper reviews the key technologies for the applications of robot in the intelligent manufacturing,such as robot three-dimensional measurement of complex curved surfaces,robot grinding of complex parts,and robot force-controlled intelligent assembly.Typical cases such as bacterial chemical robot pharmaceutical production line are introduced as well.Finally,the development trend and challenges of intelligent manufacturing robots are discussed.

关 键 词：机器人 智能制造 视觉感知 智能控制 系统应用 信息物理系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH16[自动化与计算机技术—控制科学与工程]