基于平面靶标的线结构光视觉传感器机器人手眼标定方法

为确定线结构光视觉传感器与工业机器人法兰中心的位姿关系,设计了一种只有单个圆的平面靶标及标定方法。调整机器人姿态,使激光线经过平面靶标上实心圆的圆心,通过图像处理,得到圆心的像素坐标,转换后得到圆心在传感器坐标系下的坐标;多次调整姿态,获取多组图像,得到多组传感器坐标系下圆心坐标;结合对应机器人位姿关系,采用最小二乘法直接解算出手眼矩阵。实验结果表明,所提方法与采用标准球为靶标的手眼标定方法对比,反求得到的三维坐标的标准差由0.3893 mm降为0.2145 mm,以同一目标的不同间距为测量对象,均方根误差均有效减小。该方法提高了标定精度,不需要采用昂贵的靶标,适合于现场标定。     

基于DSP系统的视觉伺服涂胶机器人设计

当前涂胶机器人存在涂胶胶线不均匀、工件涂胶路径设定较复杂等缺点。文章使用动态数字图像采集和图像处理技术实现实时捕获图像;将获取图像转换成匹配特征矢量,通过与标准图库进行比较正确判断工件型号;引入零件骨架提取和零件骨架拟合,实现零件信息矢量化;将视觉伺服应用于涂胶过程中,把视觉系统嵌入涂胶机器人系统的反馈回路中,实现机器人高精度控制;在图像信息中进行胶线曲线提取,使用形态学的方法进行胶线曲线细化,得到胶线骨架信息,判断胶线闭合性,检测胶线的质量。实验证明,所设计的算法效率较高,所研制的系统功能强、效果好。     

基于视觉伺服的智能涂胶机器人研究

当前涂胶机器人存在不够智能、新工件涂胶路径设定较复杂等缺点。针对此,通过引入数字摄像技术和图像信息处理技术实现图像的实时捕获;将获取图像转换成匹配特征矢量,与标准图库进行比较,通过相似性正确判断工件型号;通过零件骨架提取和零件骨架拟合,实现零件信息矢量化;结合NC代码生成技术,实现自动产生喷头行走轨迹的NC代码;在涂胶过程中应用视觉伺服,把视觉系统嵌入涂胶机器人系统的反馈回路中,实现机器人高精度控制;在图像信息中提取胶线曲线,用形态学的方法细化胶线曲线,提取胶线骨架信息,判断胶线闭合性,检测胶线的质量。实验证明,所设计的算法效率较高,所研制的系统功能强、效果好。     

SCARA机器人实验平台视觉标定研究

文中针对eye-to-hand视觉标定中机械手的移动可能对目标造成遮挡的问题,利用eye-in-hand摄像机和eye-to-hand摄像机结合的方式,以SCARA工业机器人为研究对象,建立双摄像机视觉标定系统。同时,文中提出了一种简单有效的eye-in-hand的标定方式,以机器人末端坐标系为辅助坐标系,建立基坐标到辅助坐标再到摄像坐标的对应关系,从而为实验室平台下工业机器人的目标定位提供了一种有效的方式。     

基于机器视觉的机器人运行自动化控制方法研究

由于传统机器人运行控制方法存在处理信息较多,导致实际机器人在应用环境中行动轨迹误差较大。因此,现提出基于机器视觉的机器人运行自动化控制方法。首先,基于机器视觉处理目标图像并定位,将识别的图像数据恢复成相应的灰度图再进行定位。其次,规划机器人位姿轨迹,得到其端部的位姿和杆件的相对位置关系。最后,控制机器人运动路径。实验结果 ：相较于方法 1的误差值最大减少了9.4mm,相较于方法 2减少了10.4mm,因此可以看出该方法对于机器人自动控制的有效性。     

基于计算机视觉的机械臂手眼标定系统设计

以机器人、无人机等为代表的人工智能体随着任务内容与环境复杂性的增加,需要对外界信息提取的需求也越来越大.视觉作为人类拥有的信息获取途径,具有很多其他传感器不具备的优点,因此希望人工智能体能够具备与人类类似的视觉系统.本文基于计算机视觉基本原理,针对机械臂重复运动中的定位问题,利用常见的CCD相机与点状激光源,设计了机械臂手眼标定系统,以得到机械臂操作工件的精确定位,为后续操作的精准度与稳定性提供基础.     

基于Nios Ⅱ的机器人视觉伺服控制器的研究与设计

本文介绍了Nios Ⅱ的结构特点及开发流程,利用Nios Ⅱ软核设计一个机器人实时目标跟踪控制器.控制器由Nios Ⅱ作为处理器,采用线性卡尔曼滤波器算法来快速完成运动估计及进一步分析和校正,实现快速而准确的跟踪.从而改善多关节机器人跟踪运动目标过程中存在的彩色图像数据量大、处理时间长的问题,提高了实时性.     

基于Nios II的机器人视觉伺服控制器的研究与设计

本文介绍了Nios II的结构特点及开发流程,利用Nios II软核设计一个机器人实时目标跟踪控制器。控制器由Nios II作为处理器,采用线性卡尔曼滤波器算法来快速完成运动估计及进一步分析和校正,实现快速而准确的跟踪。从而改善多关节机器人跟踪运动目标过程中存在的彩色图像数据量大、处理时间长的问题,提高了实时性。     

基于VxD的液压挖掘机器人工作轨迹伺服控制

采用虚拟驱动程序VxD设计和实现了Windows98环境下液压挖掘机器人工作轨迹伺服控制。     

气动视觉伺服定位系统设计

针对以往采摘机器人的电动推杆关节伸缩过程缓慢,文中采用气动伺服控制系统代替原来的电动推杆,提高伺服系统的快速性。视觉系统采用VFW图像采集系统,可以直接访问视频缓冲区,不需要生成中间文件,实时性高。通过单目视觉系统实现气缸对果实中心位置的跟踪控制实验,验证了气动伺服定位系统的快速性和准确性。     

Hybrid Motion Control and Planning Strategies for Visual Servoing

This paper presents two hybrid strategies for robot visual servoing. Two specific image constraints, the image singularities and image local minima, are considered in both strategies. The hybrid motion control strategy consists of a local switching control between the image-based and position-based visual servoing for direct avoidance of image singularities and image local minima. The hybrid motion planning strategy consists of an artificial potential field-based global hybrid trajectory planner, where a complete set of Cartesian, image, and robot joint constraints under a complex visual servoing scenario are considered. In this strategy, the image singularities are resolved using the damped-least-square-based joint trajectory planning, while the image local minima are evaluated only along the planned image trajectories and automatically avoided in the image-based trajectory tracking. Two global planning methods are considered. In the first method, the end-effector trajectory is directly planned with respect to the stationary target object frame, which provides a much shorter translational path compared with the local planning method. In the second method, the target trajectory is planned with respect to the current end-effector frame, which minimizes the chances of image trajectories leaving the camera field of view. Simulation and experimental results are given to demonstrate the efficiency of the two hybrid strategies.     

图像视觉伺服的无人机固定时间滑模控制

为提高四旋翼无人机对目标跟踪的动态性能和精度,结合图像视觉伺服(IBVS)提出一种新型非奇异固定时间滑模控制方法,实现了四旋翼无人机对速度指令和姿态指令的固定时间精确跟踪.首先通过透视投影建立虚拟图像平面,利用图像矩推导出虚拟平面的四旋翼无人机动力学模型.在此基础上,由固定时间稳定理论设计新型固定时间滑模面,给出了精确...     

Population-Based Uncalibrated Visual Servoing

This paper introduces the implementation of a recently introduced method suitable for visual servoing. The method is based on the generalization of secant methods for nonlinear optimization. The difference with existing approaches related to visual servoing is that we do not impose a linear model to interpolate the goal function. Instead, we prefer to identify the linear model by building the secant model using population of the previous iterates, which is as close as possible to the nonlinear function, in the least-squares sense. The new system has been shown to be less sensitive to noise and exhibits a faster convergence than do conventional quasi-Newton methods. The theoretical results are verified experimentally and also by simulations.     

Adaptive Reibungskompensation zur Verbesserung des Folgeverhaltens bei Visual Servoing

The vollowing article surveys the application of adaptive friction compensation to improve tracking behaviour using classical methods of motion control for visual servoing. Visual servoing is the use of motion control in order to follow a moving object, e.g. by the use of a robot and a gripping device. The position of the object is captured through image processing. The survey has been carried out on an XY-linear axis system using simulations and real time measurements. It shows that the tracking behaviour with classical motion control using visual servoing can be considerably improved by adaptive friction compensation. Problems which occur using such methods of motion control with visual servoing are also displayed.     

测试参数可视化设置的TFTLCD电性能检测系统设计

针对生产车间无尘化及驱动波形多样化的特点,设计了一种测试参数可视化设置、具备无线控制功能的TFT LCD电性能检测系统。测试波形的时序和幅值等参数通过上位机进行设置,上位机将这些参数通过串口传给下位机的数据接收模块,数据接收模块通过无线传输模块发送到TFT LCD驱动电路模块,驱动电路模块利用单片机控制产生相应的驱动波形。厂家的应用结果表明,该系统的测试参数可视化设置和无线控制功能满足了现代车间的无尘化的要求。     

基于Delphi6．0的变电站自动化系统监控组态软件的设计

介绍了现场总线式变电站综合自动化系统的总体结构,在硬件系统上从原理上进行了讨论,重点探讨了组态监控软件的整体设计。该软件有良好的可靠性和可移植性,具有人机交互界面,尤其是提供了二次开发平台,这对变电站综合自动化系统起到了更好的实时监控作用。     

Development of an Autonomous Biological Cell Manipulator With Single-Cell Electroporation and Visual Servoing Capabilities

Studies of single cells via microscopy and microinjection are a key component in research on gene functions, cancer, stem cells, and reproductive technology. As biomedical experiments become more complex, there is an urgent need to use robotic systems to improve cell manipulation and microinjection processes. Automation of these tasks using machine vision and visual servoing creates significant benefits for biomedical laboratories, including repeatability of experiments, higher throughput, and improved cell viability. This paper presents the development of a new 5-DOF robotic manipulator, designed for manipulating and microinjecting single cells. This biological cell manipulator (BCM) is capable of autonomous scanning of a cell culture followed by autonomous injection of cells using single-cell electroporation (SCE). SCE does not require piercing the cell membrane, thereby keeping the cell membrane fully intact. The BCM features high-precision 3-DOF translational and 2-DOF rotational motion, and a second z-axis allowing top-down placement of a micropipette tip onto the cell membrane for SCE. As a technical demonstration, the autonomous visual servoing and microinjection capabilities of the single-cell manipulator are experimentally shown using sea urchin eggs.     

飞行控制系统可视化仿真平台设计

提出了一种通用的飞行控制系统可视化仿真平台的设计与实现方案,具有控制系统可视化建模、仿真执行效率高、易于扩展和通用性强的优点。该平台在某型飞机模拟器基础上,设计了基于改进A*算法的静态航迹规划和基于电荷法的动态航迹规划。以并行化计算的思想设计了系统的总体框架,并通过OpenMP多线程并行多核编程技术和Matlab并行计算工具箱的SPMD(Single Program Multiple Data)技术实现了平台仿真的并行解算,大大提高了仿真效率。以"Beaver"多模态自动驾驶仪仿真设计为例,验证了平台的可行性。     

A Flux-Density-Based Electromagnetic Servo System for Real-Time Magnetic Servoing/Tracking

The goal of this paper is to develop an electromagnetic servo system for two kinds of multiaxis motion control, namely magnetic servoing and magnetic tracking. Based on the proposed space vector expression that is a function of magnetic flux density for estimating the relative position from a magnet to a Hall probe, the magnetic servoing can achieve a contouring control with respect to a fixed magnet, and the magnetic tracking can track a moving magnet. The proposed flux-density-based feedback control is a fully closed-loop scheme, which involves an inner position control loop and an outer magnetic control loop. Experiments are presented to demonstrate the validity of the space vector expression in terms of flux density and the feasibility of the electromagnetic servo system using flux density feedback control.