基于视觉的软体机器人位姿测量与控制  

Vision-based posture measurement and control of a soft robot

作　　者：张俊 胡俊峰[1] ZHANG Jun;HU Junfeng(School of Mechanical&Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China)

机构地区：[1]江西理工大学机电工程学院,赣州341000

出　　处：《现代制造工程》2024年第5期39-47,共9页Modern Manufacturing Engineering

基　　金：国家自然科学基金项目(52165011,51865016);江西省自然科学基金重点项目(2020ACBL204009);江西省自然科学基金项目(20212BAB204028)。

摘　　要：气动软体机器人具有良好的灵活性和安全性,适合在非结构化的复杂环境中执行任务。因为很难在软体机器人上安装传感器来直接测量形状和位姿,故难以实现精确的位置控制,其运动精度一般远低于传统刚性机器人。针对上述问题,提出了一种基于视觉的软体机器人形状重建、位姿测量以及逆运动学控制的方法。实验结果表明,采用该方法的软体机器人末端执行器位置的均方根误差小于6 mm,测量关键点位置误差小于2.80 mm,整体形状的位置偏差为1.67 mm,弯曲角度、偏转角度平均误差分别为3.6°和3.4°,控制到达期望位置和角度的最大误差分别为3.47 mm和0.24°。实验结果表明所提出的位姿测量和控制方法对提高软体机器人的运动精度和工作能力有很大的作用。Pneumatic soft robots are suitable for performing tasks in unstructured and complex environments due to good flexibility and safety.As it is difficult to mount sensors on the soft robot to directly measure shape and posture,making it difficult to achieve accurate position control,its motion accuracy is generally much lower than that of conventional rigid robots.A vision-based method of shape reconstruction,posture measurement and inverse kinematic control of soft robot was proposed to address these issues.The experimental results show that the root-mean-square error of the end-effector position of the soft robot using the method is less than 6 mm,the position error of the key point measured by this method is less than 2.80 mm,the position deviation of the overall shape is 1.67 mm,the average errors of the bending angle and the deflection angle are 3.6°and 3.4°respectively,the maximum position error and angle error of the control reaching the desire are 3.47mm and 0.24°respectively.The experimental results show that the proposed posture measurement and control method is useful for improving the motion accuracy and working ability of the soft robot.

关 键 词：气动软体机器人 形状重建 位姿测量 逆运动学控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]