Uncalibrated visual servoing control method for estimating image Jacobian matrix based on echo state network facing mold protection

A technology of echo state network and visual servo, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of camera Cartesian trajectory offset, lack of direct control of Cartesian space, etc., to solve local extremes Small, guaranteed smoothness effect

Active Publication Date: 2015-07-29
ZHEJIANG UNIV OF TECH +1
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Problems solved by technology

For the IBVS method, although the image space can guarantee the shortest path, it lacks the direct control of the Cartesian space. When deal

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  • Uncalibrated visual servoing control method for estimating image Jacobian matrix based on echo state network facing mold protection
  • Uncalibrated visual servoing control method for estimating image Jacobian matrix based on echo state network facing mold protection
  • Uncalibrated visual servoing control method for estimating image Jacobian matrix based on echo state network facing mold protection

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] refer to Figure 1 to Figure 5, an uncalibrated visual servo control method based on echo state network estimation image Jacobian matrix for mold protection, including the following steps:

[0029] 1) Establish an image index area and a target image sample library. The task of the first phase of establishing the image index area and the target image sample library is to guide the manipulator to the grasping target area through fixed vision, so that the manipulator can be moved to the top of each index area in an offline state without precise alignment, as long as it is ensured The target can appear within the range of hand-eye vision, and then the corresponding image is collected through fixed vision and saved as the target image sample. The task of the second stage is to guide the manipulator to approach and aim at the target through hand-eye vision, to achie...

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Abstract

The invention discloses an uncalibrated visual servoing control method for estimating an image Jacobian matrix based on an echo state network facing mold protection, which comprises the following steps: 1) an image index region and a target image sample library of the mold are built; 2) feature extraction and dimensionality reduction are carried out; 3) a polynomial interpolation method is adopted for inverse kinematics planning in a space constraint condition; and 4) a pseudo inverse Jacobian matrix based on the echo state network is realized. The problem of small local part of the traditional BP neural network can be effectively solved, and by using characteristics of adaptivity and high computation efficiency of the ESN (echo state network) in the case of a constant weight, and the problem of poor instantaneity as a general dynamic network computes a network output weight online can be solved.

Description

technical field [0001] The invention relates to a non-calibration visual servo control method for estimating image Jacobian matrix based on echo state network and oriented to mold protection. Background technique [0002] With the rapid development of image processing technology, especially the significant increase in computer processing speed and the emergence of large-scale memory, the automatic identification and alarm system of molds has been introduced into the injection molding industry in large numbers. Through the dynamic collection of CCD video images, with the help of computer digital image processing technology , Real-time monitoring of abnormal conditions such as mold residue, slider misalignment, and poor demoulding during the production process to realize automatic protection of the mold. This image-based real-time monitoring system greatly improves the safety of injection molds, reduces mold repair costs, improves work efficiency, and reduces the labor intensi...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 邢科新陈步华张文安王瑶为董辉陈小强
Owner ZHEJIANG UNIV OF TECH
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