权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

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.

视觉伺服系统是一种基于图像信息的反馈控制机制，在非结构化环境下智能机器人的运动控制中起着至关重要的作用。在传统的视觉反馈系统中，环境识别和运动控制是以逐步的方式顺序执行的。然而，这些传统的看和移动方案是不够的快速和准确的操作，本研究计划的目的是联合收割机结合的环境识别和运动控制动态，以发展一种新的视觉伺服方案，其中识别和操作过程进行互补。我们提出了一种视觉伺服方案，称为基于图像的动态视觉伺服，这是比传统的计划，是更准确，对测量噪声的鲁棒性。该视觉伺服系统的动态特性用状态方程表示，在此基础上可以用最优调节器来镇定系统，实现该视觉伺服系统需要相当强大的计算设备。为此，我们研制了一个由10个32位微处理器组成的并行处理系统--Transceiver。在该硬件系统和MAS560上实现了基于图像的实时视觉伺服。虽然不能进行任何真实感操作，但一些基本的实验验证了所提出的视觉伺服方案的有效性。本研究项目的视觉伺服方案是将现有的控制理论应用于基于图像的视觉反馈系统，这并没有给我们提供新的视觉反馈控制理论框架。研究发现，要建立新的框架，机器人动力学必须包含在视觉伺服系统的动力学中，并且必须将包含的机构视为增广动力学系统。本研究成果将成为未来视觉反馈控制理论发展的基础。