Modeling and Model Learning in Very High Speed Visual Servo Systems

传统机械手的设计目的是基于关节角度测量来高精度控制终点位置，而不是为视觉传感器的高速控制而设计。因此，很难实现智能、高速任务来实现高速视觉的性能。因此整个视觉反馈系统的加速很大程度上取决于操纵系统的加速。我们认为仅仅引入高速执行器是不够的，重要的是了解图像处理系统和主动视觉、手部系统的特性以及控制系统的设计。从这个意义上说，要实现超高速视觉伺服系统，我们必须开发描述系统所有元件动力学的模型；以及参数识别技术的发展；和模型学习算法。今年主要完成了以下研究工作： 1.高速手系统视觉伺服：开发了高速多指手系统。提出了稳定捕捉落球和落柱的算法，并通过实验评估了超高速视觉伺服的性能。2.微生物跟踪系统：开发了能够稳定观察游动草履虫的系统。大量草履虫游泳的水池位置由XY平台控制。3.视觉伺服稳定区域的扩展：在本研究中，考虑到有限摄像机视野的限制，研究了扩大稳定区域的方法。4.视觉伺服系统的组成和鲁棒性：在本研究中，指出通过组合不同的结构和算法，系统的鲁棒性会发生很大的变化。5.球捕捉和举起任务：完成了球的捕捉和举起实验。

Conventional manipulators are designed to control the end point position with high accuracy based on the joint angle measurement, and are not designed for high-speed control with vision sensors. Therefore, it is difficult to achieve an intellectual, high-speed task for enabling the performance of high-speed vision. And thus the speed-up of the whole visual feedback system highly depends on the speed-up of the manipulation system. We think that introducing high-speed actuator is not enough and it is important to understand the characteristics of the image processing system and the active vision, the hand system and also the design of the control system. In this sense, to achieve the super-high-speed visual servo system, we have to develop the model that describes the dynamics of all elements composing the system ; and the development of the parameter identification technique ; and the model learning algorithm. The following research are done this year :1.Visual servo by high-speed hand system : A high-speed multi finger hand system was developed. An algorithm to catch a falling ball and a falling column stably was proposed, and the performance of the super-high-speed visual servo was evaluated by experiments.2.Microorganism tracking system : A system that can stably observe a swimming paramecium was developed. The position of the pool where a lot of paramecia swim was controlled by a XY stage.3.Expansion of stability area of visual servo : In this research, the method of expanding the stability area was examined in consideration of the restriction with limited camera view.4.Composition and robustness in visual servo system : In this research, it was pointed out that the robustness of the system changes greatly by combining different structures and algorithms.5.Ball capture and lifting task : Ball catching and lifting experiments have been done.