Servo tracking accelerated convergence method for robot visual feature planning track

A technology for robot vision and accelerated convergence, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as loss of important visual information, control interruption, etc., to avoid excessive motion errors, reduce the number of steps, and ensure global convergence Effect

Active Publication Date: 2020-06-16
HUNAN NORMAL UNIVERSITY
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  • Abstract
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Problems solved by technology

When the displacement is large, it may cause the loss of important visual information during the servo process, resulting in control interruption

Method used

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  • Servo tracking accelerated convergence method for robot visual feature planning track
  • Servo tracking accelerated convergence method for robot visual feature planning track
  • Servo tracking accelerated convergence method for robot visual feature planning track

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Embodiment Construction

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

[0037] In this example, if figure 1 As shown, a servo tracking acceleration convergence method for robot visual feature planning trajectory, including planning feature trajectory, optimizing trajectory tracking related parameters, ensuring that the tracking error is not exceeded, and reducing the servo iterations for tracking convergence to the final feature expectation value as much as possible / Number of steps, including the following steps:

[0038] S101, establishing a visual feature trajectory planning model to obtain a specific planned trajectory;

[0039] This step includes establishing the movement path of the camera at the end of the robot, and projecting the target along the way to obtain the planned trajectory of the target visual feature, specifically including th...

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Abstract

The invention discloses a servo tracking accelerated convergence method for a robot visual feature planning track. The method comprises the following steps of S101, building a visual feature track planning model, and obtaining a specific planning track; S102, uniformly segmenting the characteristic track parameter, and carrying out segmented visual servo tracking; S103, defining a maximum displacement error and a maximum rotation error generated by tracking; and S104, minimizing the tracking convergence time under the constraint of a specific tracking error. According to the method, the tracking error is defined, the track interpolation is set, and multi-parameter optimization is carried out, the tracking convergence duration is shortened as much as possible while the tight tracking is achieved to obtain the global convergence, and the adaptive capacity of a visual servo system to a dynamic target and the environment is improved.

Description

technical field [0001] The invention relates to a servo tracking acceleration convergence method for a robot visual feature planning trajectory, belonging to the field of robot sensing and servo control. Background technique [0002] The robot visual servo control system uses visual perception information to establish the conversion relationship between the visual feature error and the movement rate of the robot's end camera, which is used to guide the movement of the robot and gradually reduce the visual feature error. the expected pose of . [0003] When the amount of rotation from the desired pose is large, the composition of the eigenvectors used as control inputs and their corresponding transformation matrices are likely to cause local convergence of the features, that is, when the eigenvalues ​​converge, the camera pose has not yet converged. When the displacement is large, it may cause the loss of important visual information during the servo process, resulting in th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1697B25J9/1664
Inventor 沈添天阳春华徐德刚
Owner HUNAN NORMAL UNIVERSITY
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