您的位置：山东大学 -> 科技期刊社 -> 《山东大学学报（工学版）》

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

• • 上一篇    下一篇

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

PDF (PC)

1127

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
[1] EKVALL S, KRAGIC D, JENSFELT P. Object detection and mapping for service robot tasks[J]. Robotica, 2007, 25(02):175-187.
[2] SEVERINSON-EKLUNDH K, GREEN A, HUTTENRAUC-H H. Social and collaborative aspects of interaction with a service robot[J]. Robotics and Autonomous Systems, 2003, 42(3):223-234.
[3] CARRIKER W F, KHOSLA P K, KROGH B H. Path planning for mobile manipulators for multiple task execution[J]. IEEE Transactions on Robotics and Automation, 1991, 7(3): 403-408.
[4] HUANG Q, TANIE K, SUGANO S. Coordinated motion planning for a mobile manipulator considering stability and manipulation[J]. The International Journal of Robotics Research, 2000, 19(8): 732-742.
[5] KORAYEM M H, RAHIMI H N, NIKOOBIN A. Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints[J]. Applied Mathematical Modelling, 2012, 36(36): 3229-3244.
[6] GALICKI M. Real-time constrained trajectory generation of mobile manipulators[J]. Robotics and Autonomous Systems, 2016, 78: 49-62.
[7] VANNOY J, XIAO J. Real-time adaptive motion planning(RAMP)of mobile manipulators in dynamic environments with unforeseen changes[J]. IEEE Transactions on Robotics, 2008, 24(5): 1199-1212.
[8] KORAYEM M H, NAZEMIZADEH M, AZIMIRAD V. Optimal trajectory planning of wheeled mobile manipulators in cluttered environments using potential functions[J]. Scientia Iranica, 2011, 18(5):1138-1147.
[9] GALICKI M. An adaptive non-linear constraint control of mobile manipulators[J]. Mechanism and Machine Theory, 2015, 88:63-85.
[10] MAZUR A. Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators[J]. International Journal of Control, 2004, 77(15):1297-1306.
[11] LIN S, GOLDENBERG A A. Robust damping control of mobile manipulators[J]. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 2002, 32(1): 126-132.
[12] MAILAH M, PITOWARNO E, JAMALUDDIN H. Robust motion control for mobile manipulator using resolved acceleration and proportional-integral active force control[J]. International Journal of Advanced Robotic System, 2005, 2(2): 125-134.
[13] GALICKI M. Control of mobile manipulators in a task space[J]. IEEE Transactions on Automatic Control, 2012, 57(11): 2962-2967.
[14] HUTCHINSON S, HAGER G D, CORKE P I. A tutorial on visual servo control[J]. IEEE Transactions on Robotics and Automation, 1996, 12(5): 651-670.
[15] CHAUMETTE F, HUTCHINSON S. Visual servo control, part I: basic approaches[J]. IEEE Robotics and Automation Magazine, 2006, 13(4): 82-90.
[16] CHAUMETTE F, HUTCHINSON S. Visual servo control, part II: advanced approaches[J]. IEEE Robotics and Automation Magazine, 2007, 14(1): 109-118.
[17] WILSON W J, WILLIAMS H C C, BELL G S. Relative end-effector control using cartesian position based visual servoing[J]. IEEE Transactions on Robotics and Automation, 1996, 12(5): 684-696.
[18] CORKE P I, HUTCHINSON S A. A new partitioned approach to image-based visual servo control[J]. IEEE Transactions on Robotics and Automation, 2001, 17(4): 507-515.
[19] MALIS E, CHAUMETTE F, BOUDET S. 2 1/2 D visual servoing[J]. IEEE Transactions on Robotics and Automation, 1999, 15(2): 238-250.
[20] MA Y, KOSECKA J, SASTARY S S. Vision guided navigation for a non-holonomic mobile robot[J]. IEEE Transactions on Robotics and Automation, 1999, 15(3): 521-536.
[21] DIXON W E, DAWSON D M, ZERGEROGLU E, et al. Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system[J]. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 2001, 31(3): 341-352.
[22] AMARASINGHE D, MANN G K I, GOSINE R G. Vision-based hybrid control scheme for autonomous parking of a mobile robot[J]. Advanced Robotics, 2007, 21(8): 905-930.
[23] LUCA A D, ORIOLO G, GIORDANO P R. Image-based visual servoing schemes for nonholonomic mobile manipulators[J]. Robotica, 2007, 25(02): 131-145.
[24] MANSARD N, STASSE O, CHAUMETTE F, et al. Visually-guided grasping while walking on a humanoid robot[C] //IEEE International Conference on Robotics and Automation. Roma, Italy: IEEE Robotics and Automation Society, 2007: 3041-3047.
[25] WANG Y, LANG H, DE SILVA C W. A hybrid visual servo controller for robust grasping by wheeled mobile robots[J]. IEEE/ASME Transactions on Mechatronics, 2010, 15(5): 757-769.
[26] 杨唐文, 高立宁, 阮秋琦,等. 移动双臂机械手系统协调操作的视觉伺服技术[J]. 控制理论与应用, 2015, 32(1): 69-74. YANG Tangwen, GAO Lining, RUAN Qiuqi, et al. Visual servo technology for coordinated manipulation of a mobile dual-arm manipulator system[J]. Journal of Control Theory and Application, 2015, 32(1): 69-74.
[27] DENAVIT J, HARTENBERG R S. A kinematic notation for lower-pair mechanisms based on matrices[J]. Trans of The ASME Journal of Applied Mechanics, 1955, 22: 215-221.
[1] 赵子健,陈兆瑞,李冰清. 基于非最小化优化的手眼标定方法[J]. 山东大学学报(工学版), 2016, 46(4): 28-33.
[2] 袁丽,田国会*,李国栋. #br# NAO机器人的视觉伺服物品抓取操作[J]. 山东大学学报(工学版), 2014, 44(3): 57-63.
[3] 潘金凤,赵建立*,付世华. 逻辑切换控制网络的可控性和稳定性[J]. 山东大学学报(工学版), 2013, 43(4): 62-67.
[4] 丁娜娜,田国会*,李国栋,张庆宾. 基于人工地标的双足机器人视觉自定位[J]. 山东大学学报(工学版), 2013, 43(4): 51-56.
[5] 李国栋,赵威,田国会*,薛英花. 一种基于旋转矩阵分解的视觉伺服控制算法[J]. 山东大学学报(工学版), 2012, 42(1): 45-50.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] 李可,刘常春,李同磊 . 一种改进的最大互信息医学图像配准算法[J]. 山东大学学报(工学版), 2006, 36(2): 107 -110 .
[2] 季涛,高旭,孙同景,薛永端,徐丙垠 . 铁路10 kV自闭/贯通线路故障行波特征分析[J]. 山东大学学报(工学版), 2006, 36(2): 111 -116 .
[3] 岳远征. 远离平衡态玻璃的弛豫[J]. 山东大学学报(工学版), 2009, 39(5): 1 -20 .
[4] 程代展，李志强. 非线性系统线性化综述(英文)[J]. 山东大学学报(工学版), 2009, 39(2): 26 -36 .
[5] 王勇, 谢玉东.

大流量管道煤气的控制技术研究

[J]. 山东大学学报(工学版), 2009, 39(2): 70 -74 .
[6] 刘新1 ，宋思利1 ，王新洪2 . 石墨配比对钨极氩弧熔敷层TiC增强相含量及分布形态的影响[J]. 山东大学学报(工学版), 2009, 39(2): 98 -100 .
[7] 田芳1,张颖欣2,张礼3,侯秀萍3,裘南畹3. 新型金属氧化物薄膜气敏元件基材料的开发[J]. 山东大学学报(工学版), 2009, 39(2): 104 -107 .
[8] 陈华鑫, 陈拴发, 王秉纲. 基质沥青老化行为与老化机理[J]. 山东大学学报(工学版), 2009, 39(2): 125 -130 .
[9] 赵延风1,2, 王正中1,2 ,芦琴1,祝晗英3 . 梯形明渠水跃共轭水深的直接计算方法[J]. 山东大学学报(工学版), 2009, 39(2): 131 -136 .
[10] 李士进,王声特,黄乐平. 基于正反向异质性的遥感图像变化检测[J]. 山东大学学报(工学版), 2018, 48(3): 1 -9 .
版权所有 © 2018 《山东大学学报(工学版)》编辑部　
地址: 济南市山大南路27号（250100）　 电话: 0531-88366735　 E-mail: xbgxb@sdu.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发