基于视觉反馈的柔性充气仿生臂控制系统设计  

Design of control system of flexible inflatable bionic arm based on visual feedback

作　　者：曹润滋 王文龙[2] 尹航[1] 林国昌[3] 黄金杰[4] 班晓军[1] CAO Runzi;WANG Wenlong;YIN Hang;LIN Guochang;HUANG Jinjie;BAN Xiaojun(Harbin Institute of Technology,Center for Control Theory and Guidance Technology,Harbin 150001,China;Beijing Institute of Spacecraft System Engineering,Beijing 100094,China;Harbin Institute of Technology,Center for Composite Materials and Structure,Harbin 150001,China;Automation Department,Harbin University of Science and Technology,Harbin,150080,China)

机构地区：[1]哈尔滨工业大学控制理论与制导技术研究中心,哈尔滨150001 [2]北京空间飞行器总体设计部,北京100094 [3]哈尔滨工业大学复合材料与结构研究所,哈尔滨150001 [4]哈尔滨理工大学自动化系,哈尔滨150080

出　　处：《导航定位与授时》2024年第5期112-123,共12页Navigation Positioning and Timing

摘　　要：设计了一种基于视觉反馈的柔性仿生臂控制系统,通过将其等效为刚体的建模方法对所设计的柔性仿生臂进行了理论分析。利用手动操纵杆实现了对柔性仿生臂的手动操控。在柔性仿生臂头端安装有摄像头,可以通过卷积神经网络目标检测和识别算法识别目标物体,其获得的位置信息可用于闭环控制。通过视觉反馈实现了对目标的搜索和锁定。相较于传统的刚性机械臂,本研究具有安全性高和体积小的优点。同时,计算机仿真和实验均验证了该设计的合理性与有效性。A flexible bionic arm control system based on visual feedback has been designed,and the designed flexible bionic arm is theoretically analysed by modelling it as an equivalent rigid body.Manual control of the flexible bionic arm is achieved using a manual joystick,with a camera mounted at the head end of the arm allowing identification of the target objects by a convolutional neural network object detection and recognition algorithm,and the position information obtained by it can be used for closed-loop control.Visual feedback enables the robot to locate and lock on to targets.Compared to the traditional rigid robotic arm,this study has the advantages of high safety and small size.At the same time,computer simulations and experiments verify the rationality and effectiveness of the design.

关 键 词：视觉反馈 卷积神经网络 柔性充气仿生臂 控制系统 手动操纵杆 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]