Research on Atutonomous Truss Assembly by Space Robot Using Object-Oriented World Model

基于面向对象世界模型的空间机器人自主桁架装配研究

• 批准号: 08455464
• 负责人: MUROTSU Yoshisada
• 金额: $ 1.66万
• 依托单位: Osaka Prefecture University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08455464/
• 关键词: Space Robot; Autonomous Robot; Visual Information; Stereo Vision; Object Recognition; Object Oriented; World Model; Autonomous Assembly; 視覚システム; 物体の運動

A visual sensing system for autonomous robot and the autonomous truss assembly by a space robot are studied. The results are summarized as follows.1. A stereo vision system for an autonomous robot is developed. An effective segmentation method using a hierarchical shape graph is introduced to reconstruct the 3D structure of the world. In the identification of the targets, using database built by CAD, a reliable model matching method with error rejection is proposed. To observe motions of the objects in real-time, high-speed image processing algorithm by a single vision system is used to calculate the position and posture of the targets. Combining both processes by parallel programming, the real-time motion tracking is realized.2. A new segmentation method is proposed to distinguish a curved outline of the object. The stereo matching is performed for the corresponding curves between left and right images under an Epipolar constraint. Then, the three-dimensional geometrical feature of the object is reconstructed. In the model matching, information of the size and the shape is compared between the reconstructed object and the data model.3. An autonomous assembly of truss structures using an space robot is studied. An experimental air-table system realizes a two-dimensional frictionless condition on the ground. According to the prescribed order of the truss assembling, the stereo camera system recognizes the positions and attitudes of the target and the obstacles. Then, the manipulator path is generated by a potential method to attain the desired position and attitude of the hand avoiding collision with obstacles. Considering the base structure of the truss as an obstacle, the manipulator can carry each truss element to the base structure without collision. The smooth assembling is realized by the force control using torque sensors on the manipulator. The feasibility of the autonomous assembly of the truss structure is demonstrated by the hardware experiment.

研究了自主机器人视觉传感系统和空间机器人自主桁架装配。研究结果如下：1.研制了一种用于自主机器人的立体视觉系统。提出了一种利用层次形状图的分割方法来重建三维世界结构。在目标识别中，利用CAD建立的数据库，提出了一种可靠的具有误差剔除的模型匹配方法。为了实时观察目标的运动，单视觉系统使用高速图像处理算法来计算目标的位置和姿态。通过并行编程将两个过程结合起来，实现了实时运动跟踪.提出了一种新的分割方法来区分物体的曲线轮廓。在对极线约束下，对左右图像之间的对应曲线执行立体匹配。然后，重建物体的三维几何特征。在模型匹配中，在重建对象和数据模型之间比较大小和形状的信息.研究了利用空间机器人进行桁架结构的自主装配。一个实验性的空气表系统实现了地面上的二维无摩擦条件。立体摄像系统根据桁架装配的规定顺序，识别目标和障碍物的位置和姿态。然后，机械手的路径生成的潜在的方法，以获得所需的位置和姿态的手避免与障碍物碰撞。将桁架的基础结构视为障碍物，机械手可以将每个桁架单元无碰撞地运送到基础结构。利用机械手上的力矩传感器进行力控制，实现了机械手的平稳装配。通过硬件实验验证了桁架结构自主装配的可行性。

项目成果

泉田啓.室津義定.足立浩一: "画像情報を用いた宇宙ロボットの制御" ROBOMEC'96 講演論文集. A. 355-358 (1996)

Kei Izumida、Yoshisada Murotsu 和 Koichi Adachi：“使用图像信息控制空间机器人”ROBOMEC96 论文集。

Y.Murotsu 他3名: "Visual Sensing System for Autonomous Space Robot" 平成10年度アストロダイナミクス・シンポジウム. 7月23,24日. 139-144 (1998)

Y. Murotsu 和其他 3 人：“自主空间机器人的视觉传感系统”天体动力学研讨会 1998。7 月 23 日和 24 日。139-144 (1998)

室津.泉.邵.小木曽: "VGTを用いた自律ドッキングシステムのための視覚システム" 日本機会学会論文集 C編. (投稿中).

Murotsu、Izumi、Shao、Ogiso：“使用 VGT 的自主对接系统的视觉系统”日本机械工程师学会会议录，C 卷（目前已提交）。

K.Senda, Y.Murotsu, and K.Ito: "Control of Flexible Manipulator with Tip End Constrained to Environment" JSME Annual Conference on Robotics and Mechatronics. A. 185-188 (1996)

K.Senda、Y.Murotsu 和 K.Ito：“末端受环境约束的柔性机械手的控制”JSME 机器人和机电一体化年会。

K.Senda, H.Nagaoka, Y.Murotsu, and A.Mitsuya: "Adaptive Control of Space Robot with CMG" JSME Annual Conference on Robotics and Mechatronics. A. 359-362 (1996)

K.Senda、H.Nagaoka、Y.Murotsu 和 A.Mitsuya：“利用 CMG 进行空间机器人的自适应控制”JSME 机器人和机电一体化年会。