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移动机器人在执行某些危险品处置任务时,其搭载的机械臂的关节状态可能会因为测量器件的损坏而无法获知.为了不在召回机器人上延误危险品的处置时间,提出一种适用于移动机械手无关节状态反馈情况的基于人-机-机协作(HRRC)的无标定视觉伺服控制系统.首先建立能反映机械手关节状态的虚拟外骨骼(虚拟模型),方法是在另一台机器人在线拍摄到的监控图像上,使用人机交互(HCI)输入设备(如鼠标)手动框选关节所在的区域.虚拟外骨骼与多关节跟踪算法配合可以实现对机械臂对应关节的导向控制及末端姿态保持.为了利用人工导引点对虚拟外骨骼进行导引控制,通过广义回归神经网络(GRNN)来映射虚拟外骨骼的末端与关节角的关系.最后,在轴孔装配实验中,本文方法能够使机械手末端在人工导引下完成任务,且能使末端姿态误差保持在±1?左右;而常规的单关节控制方式无法控制机械手末端完成任务,且无法实现末端姿态保持.对比实验结果验证了本文提出的控制系统在无关节状态反馈的情况下能够帮助操作人员直观地使用机械手处置目标,并且在此过程中能够使机械手末端保持在指定姿态.
Mobile robots may not be able to detect the joint status of their robots when carrying out some dangerous goods disposal tasks. In order not to delay the disposal time of dangerous goods on the recalled robots, a solution is proposed for mobile robots Humanoid-machine-computer-based (HRRC) -based uncalibrated visual servoing control system without joint status feedback is first established with a virtual exoskeleton (virtual model) that reflects the status of the robot joint by shooting another (HCI) input device (such as a mouse) to manually select the area where the joint is located.The virtual exoskeleton and the multi-joint tracking algorithm can achieve the guidance control and the end attitude retention of the corresponding joint of the manipulator. In order to guide and control the virtual exoskeleton with artificial guiding points, the relationship between the end of the virtual exoskeleton and the joint angle is mapped by generalized regression neural network (GRNN) .Finally, in the axial hole assembly experiment, this method can make the manipulator End of the manual guided to complete the task, and can make the end of the attitude error of ± 1? Or so; and conventional single-joint control The method can not control the end of the manipulator to complete the task and can not achieve the end of the attitude retention.Contrast experimental results verify that the proposed control system in the absence of joint status feedback can help operators intuitive use of robots to handle the target and in the process can Keep the end of the robot in the specified attitude.