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山东大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (5): 54-63.doi: 10.6040/j.issn.1672-3961.0.2016.262

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移动机械臂手眼关系标定及视觉伺服控制方法

杨元慧,李国栋*,吴春富,王小龙,蔡小伟   

  1. 龙岩学院机电工程学院, 福建 龙岩 364012
  • 收稿日期:2016-07-14 出版日期:2016-10-20 发布日期:2016-07-14
  • 通讯作者: 李国栋(1981— ),男,山东济南人,讲师,博士,主要研究方向为视觉伺服,机器视觉与智能空间. E-mail:liguodong.sdu@foxmail.com E-mail:huihui-80@163.com
  • 作者简介:杨元慧(1980— ),女,山东泰安人,讲师,主要研究方向为智能机器人控制,机器视觉、机械设计制造及自动化.E-mail:huihui-80@163.com
  • 基金资助:
    国家自然科学基金资助项目(61375084);山东省自然科学基金重点资助项目(ZR2015QZ08);福建省自然科学基金面上资助项目(2015J01268);福建省教育厅科技计划资助项目(JK2014049);福建省科技厅引导性资助项目(2016H0026);福建省教育厅中青年教师教育科研资助项目(JA15499,JA14307);龙岩学院百名青年教师攀登计划资助项目(LQ2013015,LQ2016006);龙岩学院校级产学研资助项目(LC2014003)

Hand-eye calibration and visual servo control for mobile manipulator

YANG Yuanhui, LI Guodong*, WU Chunfu, WANG Xiaolong, CAI Xiaowei   

  1. School of Mechanical and Electrical Engineering, Longyan University, Longyan 364012, Fujian, China
  • Received:2016-07-14 Online:2016-10-20 Published:2016-07-14

摘要: 将视觉传感器集成到移动机械臂上构成眼在手上构型的视觉伺服系统是服务机器人实现物品抓取与搬运操作的一种有效方法,但存在手眼关系标定算法复杂非线性,以及难以处理移动机械臂的非完整性约束等难题。为了克服以上难题,首先将移动机械臂抽象为一个广义机械臂,对其进行运动学建模,并求出其运动学解析逆解;然后提出一种全新的线性主动视觉摄像机标定方法对手眼关系进行标定;最后设计包含眼注视逼近和look-then-doing开环抓取的视觉伺服切换控制律来控制移动机械臂实现家庭物品的抓取操作。仿真及试验结果表明,该线性手眼关系标定法易于实现,且具有极高的标定精度,同时设计的视觉伺服切换控制律能够有效克服移动机械臂的非完整性约束带来的控制困难。

关键词: 视觉伺服, 移动机械臂, 主动视觉, 手眼关系标定, 切换控制, 单应分解

Abstract: The eye-in-hand visual servo system integrated vision sensor into mobile manipulator was widely used for object grasping and delivering operation. However, there were some challenges, such as nonlinearity and complexity of the existing hand-eye calibration algorithm, together with the nonholonomic constraint of the mobile manipulator. To solve these problems, the mobile manipulator was proceeded as a generalized manipulator whose kinematic model was established, and the inverse kinematic analytical solutions were acquired. Then, a novel linear active vision based camera calibration method was proposed to determine the hand-eye relationship. Finally, a visual servo switching control law composed of eye-fixed approaching and look-then-doing open loop handling was designed to control the mobile manipulator to finish household objects handling operation. Simulation and experimental results showed that the linear active vision-based hand-eye calibration method could be utilized conveniently and precisely. Meanwhile, the designed control law could reduce the control difficulty brought by the nonholonomic constraint of the mobile manipulator.

Key words: hand-eye calibration, switch control, mobile manipulator, homography decomposition, active vision, visual servo

中图分类号: 

  • TP24.2
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