Robot vision servo control method based on image mixing moment

A robot vision and image mixing technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of poor system robustness and versatility, and achieve the effect of improving robustness, strong adaptability and good control performance

Active Publication Date: 2018-04-13
CENT SOUTH UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a robot visual servo control system for extracting new features of images in order to solve the technical problem that ...

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  • Robot vision servo control method based on image mixing moment
  • Robot vision servo control method based on image mixing moment
  • Robot vision servo control method based on image mixing moment

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Embodiment Construction

[0033] The present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0034] The present invention is based on the following principle: for an industrial robot with a camera installed at the end of the joint, the movement of each joint of the robot can be controlled through visual information, so as to realize a series of actions such as the robot avoiding obstacles and approaching the target. Since the relative pose relationship between the target and the robot body is implicit in the image features, the movement of the robot will cause changes in the imaging of the target in the image. The image Jacobian matrix describes the relationship between the movement of the robot end and the imaging change of the target in the image, namely in, is the rate of change of the image feature vector, is the velocity vector of the robot end effector, then the image Jacobian matrix L s Can be e...

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Abstract

The invention discloses a robot vision servo control method based on the image mixing moment. Firstly, construction of mixing moment features in one-to-one correspondence with space attitudes after target object imaging under the robot expected pose is given; and then a target object image is obtained under any attitude, the current mixing moment feature information value is calculated, the deviation of the mixing moment feature value is calculated according to information of an expected image and information of the current image, if the deviation is smaller than the preset threshold value, itis shown that the robot achieves the expected pose, if the deviation is not smaller than the threshold value, an image jacobian matrix relevant to the mixing moment features is deducted, a vision servo robot is used so that the robot can move towards the expected pose till the feather deviation is smaller than the preset threshold value, and the control process is over. By means of the robot vision servo control method, the image field mixing moment feature corresponding to the space movement track of the robot is introduced in to serve as the control input, vision servo control of a eye-in-hand robot system under the working space model unknown circumstance is completed, and the method can be widely applied to robot intelligent control based on machine vision.

Description

technical field [0001] The invention relates to a robot visual servo control method, which belongs to the fields of robotics, machine vision and control. Background technique [0002] In the past two decades, industrial robots have been widely used in many industrial environments. In order to meet the complex operation requirements, the research of robots has changed from the original simple mechanical control to the intelligent equipment of multi-sensor information fusion. Traditional robots can use conventional control strategies to perform repetitive production tasks when faced with a single job requirement and given system parameters. However, when faced with a complex job environment and uncertain system parameters, the end effector will Due to uncertainty, it cannot meet the needs of high-speed, high-precision, and intelligent operations. To improve the robustness of industrial robot control systems, vision sensors provide an effective solution to provide rich inform...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1671B25J9/1697
Inventor 徐德刚周雷沈添天洪松涛阳春华桂卫华
Owner CENT SOUTH UNIV
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