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A PD-SMC Control Method of Visual Servo System Based on Eye-on-Hand Structure

A PD-SMC and visual servo technology, applied in the field of visual servo system, can solve the problems of low real-time control and difficulty in degrees of freedom, and achieve the effects of ensuring stability, optimizing motion trajectory, and fast convergence speed

Active Publication Date: 2021-03-09
HARBIN ENG UNIV +3
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Problems solved by technology

The 6-DOF actuator is more suitable for practical applications due to its structural flexibility and larger working space, but its real-time control is also more difficult than that of low DOF

Method used

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  • A PD-SMC Control Method of Visual Servo System Based on Eye-on-Hand Structure

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specific Embodiment approach 1

[0038] Specific Embodiment 1: Combining Figure 1 to Figure 7 Describe the implementation mode, a PD-SMC control method implemented on the visual servo system based on the eye-on-hand structure, the applied visual servo system structure based on the eye-on-hand structure is as follows figure 1 As shown, it includes a visual servo control part and a joint control part; the visual servo control part includes a video camera, a first computer and a second computer; the joint control part includes a controller and a six-degree-of-freedom mechanical arm (Denso robot), and a video camera Installed at the end of the six-degree-of-freedom mechanical arm; the first computer is connected to the six-degree-of-freedom mechanical arm through the controller, and transmits the command to the second computer through the communication network, and the second computer is connected to the six-degree-of-freedom mechanical arm and obtains image data, and then The image data is passed back to the fi...

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Abstract

The invention relates to the field of visual servo systems, in particular to a PD-SMC control method of a visual servo system based on an eye-on-hand structure so as to solve the problems of uncertainty and large computation amount existing in an existing visual servo system control method. The method comprises the steps of (1) setting an expected image and collecting feature points of the expected image as an expected visual feature set; (2) conducting projection transformation on a target expected image with the current state of the relative poses of a camera and a target body to obtain a current image of the camera; (3) adopting the PD-SMC method for a visual servo controller part and adopting a proportional control method for a joint controller part; (4) extracting a visual feature setfrom the current image, computing a jacobian matrix of the image and then computing the controlled quantity u of the camera in a Cartesian space; and (5) computing the pose of the target body in a camera coordinate system, and repeating the operations with the pose as the current pose until the error is zero. The PD-SMC control method can be applied to target grabbing equipment.

Description

technical field [0001] The invention relates to the field of visual servo systems, in particular to a PD-SMC control method for a visual servo system based on an eye-in-hand structure. Background technique [0002] With the increasing demand for the flexibility and effectiveness of machining equipment in the manufacturing industry, visual feedback is introduced into the control loop to deal with the dynamic interaction between the actuator and the environment to meet a variety of automated processing tasks. The camera is used as a visual sensor in the feedback system to form a visual servoing system. Visual servoing can be divided into position-based visual servoing (PBVS) and image-based visual servoing (IBVS) according to its feedback information. The PBVS system uses the pose information of the target converted from the image information relative to the end of the actuator as feedback information, gives the movement command of the mechanism in the Cartesian coordinate spa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/02G05B13/04
Inventor 李抒桐高延滨谢文芳管练武王刚
Owner HARBIN ENG UNIV
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