RM-501机械臂视觉伺服系统研究

发布时间：2018-07-12 09:33

本文选题：机械臂 + 视觉伺服　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：机器人技术发展至今已经逐渐成熟,在工业生产和科学研究中的应用也更加广泛,其中智能机器人技术成为了新的发展方向,在机器人上安装视觉传感器实现机器人对运动目标的视觉跟踪是研究的热点。本文研究RM-501机械臂的视觉伺服,采用摄像机固定的安装方式,设计视觉检测算法,提取运动目标的中心位置作为图像特征,并采用基于图像的方法进行视觉伺服控制器和RM-501机械臂关节控制器的设计,目的是实现机械臂末端执行器对二维平面内运动目标的视觉跟踪。为控制机械臂的运动以实现机械臂末端执行器对运动目标的跟踪,本文首先采用几何法对机械臂进行正逆运动学分析,得到机械臂末端位置和关节角度之间的转换关系,为关节控制器提供给定量。为将目标物体的运动转化为视觉伺服系统可以处理的变量,本文进行了视觉检测算法设计。视觉检测完成的工作主要是图像的灰度化,边缘检测和中心位置计算,提取运动目标的圆心位置坐标作为图像特征,作为视觉伺服控制器的输入。设计完视觉检测算法之后,本文搭建了DM6446达芬奇技术平台的软件开发环境并进行多线程应用程序的设计,在DM6446上实现了视觉检测算法。为把运动目标的图像特征变化转化为关节运动信息,本文采用基于图像的视觉伺服方法,选择图像雅克比矩阵作为描述机械臂手眼关系的模型。基于图像的视觉伺服重点在于如何实现图像雅克比矩阵的在线估计,本文采用卡尔曼滤波算法在线估计图像雅克比矩阵,并在MATLAB中进行了仿真。为驱动RM-501机械臂关节电机转动,本文设计了机械臂各关节的控制系统并进行了系统联调,关节控制系统的设计需要对关节电机建模,然后设计RM-501机械臂各关节的双闭环控制器,内环为速率环,外环为位置环。
[Abstract]:The development of robot technology has gradually matured, and it has been widely used in industrial production and scientific research. Among them, intelligent robot technology has become a new direction of development. It is a hot research topic to install vision sensor on robot to realize robot's visual tracking to moving target. In this paper, the visual servo of RM-501 manipulator is studied. The fixed installation of the camera is used to design the visual detection algorithm, and the center position of the moving object is extracted as the image feature. The visual servo controller and the RM-501 manipulator joint controller are designed based on the image-based method. The aim is to realize the visual tracking of the moving objects in the two-dimensional plane by the end actuators of the manipulators. In order to control the movement of the manipulator in order to realize the tracking of the moving target by the end actuator of the manipulator, the forward and inverse kinematics analysis of the manipulator is carried out by geometric method, and the conversion relationship between the position of the end of the manipulator and the angle of the joint is obtained. For joint controller to provide quantitative. In order to transform the motion of the object into a variable that can be processed by a visual servo system, a visual detection algorithm is designed in this paper. The main work of visual detection is image grayness edge detection and center position calculation. The center coordinates of moving object are extracted as image features and as input of visual servo controller. After designing the vision detection algorithm, this paper builds the software development environment of DM6446 da Vinci technology platform and designs the multi-thread application program, and realizes the vision detection algorithm on DM6446. In order to transform the image feature change of moving object into joint motion information, the image Jacobian matrix is selected as the model to describe the hand-eye relationship of the manipulator by using the image-based visual servo method. The emphasis of image visual servo is how to realize the on-line estimation of image Jacobian matrix. In this paper, Kalman filter algorithm is used to estimate image Jacobian matrix online, and the simulation is carried out in MATLAB. In order to drive the motor rotation of RM-501 manipulator joint, this paper designs the control system of each joint of the arm and carries on the system linkage adjustment. The design of the joint control system needs to model the joint motor, and then design the double closed loop controller of each joint of the RM-501 mechanical arm. The inner ring is the rate loop, and the outer ring is the position ring.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241;TM921.541

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