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基于立體視覺的遙操作工程機(jī)器人自主作業(yè)系統(tǒng)
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國家高技術(shù)研究發(fā)展計(jì)劃（863計(jì)劃）資助項(xiàng)目(2010AA040201)和吉林省自然科學(xué)基金資助項(xiàng)目（201115153）


Autonomous Task Control System of Construction Tele-robot Based on Stereo Vision
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    摘要:

    建立了基于立體視覺技術(shù)的遙操作工程機(jī)器人自主作業(yè)控制系統(tǒng),。采用立體視覺技術(shù)實(shí)現(xiàn)對(duì)目標(biāo)物體的形狀自動(dòng)識(shí)別與空間定位，進(jìn)行了遙操作工程機(jī)器人運(yùn)動(dòng)學(xué)方程求解,、運(yùn)動(dòng)軌跡規(guī)劃與控制的研究。針對(duì)液壓伺服控制系統(tǒng)具有非線性、參數(shù)不確定的特點(diǎn),，設(shè)計(jì)了模糊控制器,。最后，在遙操作工程機(jī)器人實(shí)驗(yàn)臺(tái)上進(jìn)行了自主作業(yè)控制實(shí)驗(yàn),。實(shí)驗(yàn)結(jié)果表明，所構(gòu)建的基于立體視覺技術(shù)的工程機(jī)器人自主作業(yè)控制系統(tǒng),，能夠完成初步的自主作業(yè)任務(wù),，且作業(yè)過程比較流暢。

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    In order to enhance the autonomy of construction tele-robot (CTR), a complete autonomous task control system of CTR based on stereo vision technology was established. Firstly, automation recognition and space location of the target object were studied by stereo vision and image processing technology. And then, forward and reverse kinematics equations, trajectory planning and control were discussed. To make the autonomous movement smoothly, trajectory function must be continuous and smooth, and expectation joint displacement and velocity would be obtained by forward kinematics equation. A fuzzy controller was designed. Finally, experiments of the autonomous task control were carried out on CTR test-bed. The experiments results indicated that autonomous task control system of CTR based on stereo vision technology was reliable and safe to complete their task, and task process was smooth. 

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唐新星,倪濤,何麗鵬,張邦成,高金庫.基于立體視覺的遙操作工程機(jī)器人自主作業(yè)系統(tǒng)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(10):224-228,214. Tang Xinxing, Ni Tao, He Lipeng, Zhang Bangcheng, Gao Jinku. Autonomous Task Control System of Construction Tele-robot Based on Stereo Vision[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(10):224-228,214.

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  • 在線發(fā)布日期: 2012-10-19
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