Basic Research of Visual Servo which Dynamically Combines Environment Recognition to Motion Control

环境识别与运动控制动态结合的视觉伺服基础研究

基本信息

批准号：
01460125
负责人：
KIMURA Hidenori
金额：
$ 3.33万
依托单位：
Osaka University
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1989
资助国家：
日本
起止时间：
1989 至 1990
项目状态：
已结题

项目摘要

Visual servo system is a feedback control mechanism based on image information, which is essential in motion control of intelligent robots working in unstructured environments. In the conventional visual feedback system, environment recognition and motion control are performed sequentially in step by step manner. However, these conventional look and move schemes are deficient for fast and accurate manipulation.The purpose of this research project is to combine the environment recognition and the motion control dynamically so as to develop a new visual servo scheme in which the recognition and manipulation processes proceed complementing with each other. We have proposed a visual servo scheme called image-based dynamic visual servo, which is shown to be more accurate than the conventional scheme and to be robust against the measurement noises. The dynamics of this visual servo system is expressed by a state equation, based on which the optimal regulator can be used to stabilize the system.Realization of this visual servo system requires considerably powerful computing devices. Thus, we have developed a parallel processing system composed by ten 32-bits microprocessors--Transputers. Real-time image-based visual servo is implemented on this hardware system and PUMA 560. Though any Realistic manipulation can not be performed, some basic experiments verify the effectiveness of the proposed visual servo scheme.The visual servo scheme developed in this research project is derived by applying the available control theory to the image-based visual feedback system, which gives us no novel control theoretic framework of visual feedback. We found that, to build up new framework, robot dynamics must be included in the dynamics of visual servo system, and the inclusive mechanism must be treated as an augmented dynamic system. The results of this research project will become the bases of the future developments of visual feedback control theory.

Visual Servo系统是基于图像信息的反馈控制机制，这对于在非结构化环境中工作的智能机器人的运动控制至关重要。在常规的视觉反馈系统中，环境识别和运动控制是按逐步进行的。但是，这些传统的外观和移动方案在快速，准确的操作中都缺乏。该研究项目的目的是将环境识别和运动控制组合起来，以开发一种新的视觉伺服方案，在该方案中，识别和操纵过程继续相互补充。我们提出了一种称为基于图像的动态视觉伺服器的视觉伺服伺服方案，该方案比传统方案更准确，并且在测量噪声上具有鲁棒性。该视觉伺服系统的动力学由状态方程表示，基于最佳调节器可用于稳定系统。该Visual Servo系统的现实化需要相当强大的计算设备。因此，我们开发了一个由十个32位微处理器组成的平行处理系统 - 转移器。该硬件系统和PUMA 560实现了实时的基于图像的Visual Servo。尽管无法执行任何现实的操作，但一些基本的实验验证了拟议的Visual Servo方案的有效性。该研究项目中开发的Visual Servo方案的有效性是通过将可用控制理论应用于基于图像的Visual Replactback System的，这使我们无需提供新颖的Visual Recomnection fivelotic框架。我们发现，为了建立新的框架，必须将机器人动态包括在Visual Servo系统的动力学中，并且必须将包含机制视为增强动态系统。该研究项目的结果将成为视觉反馈控制理论的未来发展的基础。