CLC number: TP13
On-line Access: 2021-02-01
Received: 2019-08-31
Revision Accepted: 2019-10-09
Crosschecked: 2020-05-18
Cited: 0
Clicked: 5367
Citations: Bibtex RefMan EndNote GB/T7714
Wei Li, Rong Xiong. A hybrid visual servo control method for simultaneously controlling a nonholonomic mobile and a manipulator[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.1900460 @article{title="A hybrid visual servo control method for simultaneously controlling a nonholonomic mobile and a manipulator", %0 Journal Article TY - JOUR
一种同时控制非完整约束底盘和机械臂的混合视觉伺服方法李玮,熊蓉 浙江大学工业控制技术国家重点实验室,中国杭州市,310027 摘要:视觉伺服控制规则是指利用机器人上所安装相机获取的图像数据进行机器人运动规划的控制方法,通常分为基于图像的视觉伺服、基于位置的视觉伺服和混合视觉伺服(HVS)控制规则。移动操作可扩大机械臂的工作范围和灵活性,但目前将视觉伺服控制应用于完整移动作业机器人运动的研究较少。本文提出一种面向6自由度机械臂与非完整移动基座组合构成的移动操作机器人HVS运动控制方法。基于移动操作机器人的运动学微分方程,推导了整个机器人的全局雅可比矩阵,进而结合位置信息和视觉图像信息推导了HVS控制方程。夹持器和目标之间的距离是通过安装在夹持器上的摄像机观察标记来计算的,并计算了在图像坐标系中标记特征点位置与期望位置之间的差异。将这些差异代入控制方程,可得到移动操作机器人各自由度的速度控制规律。为避免由观测引起的位置误差,引入卡尔曼滤波来校正机械臂末端的位置和方向。最后,在一台由Bulldog底盘、UR5机械臂和ZED相机组成的移动操作平台上进行了实验验证。 关键词组: Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article
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