Modeling and Model Learning in Very High Speed Visual Servo Systems

传统的机械手是基于关节角度测量来实现对末端位置的高精度控制，而不是基于视觉传感器的高速控制。因此，实现高速视觉性能的智能、高速任务是很困难的。因此，整个视觉反馈系统的加速高度依赖于操作系统的加速。我们认为仅仅介绍高速作动器是不够的，了解图像处理系统和主动视觉、手控系统的特点以及控制系统的设计是非常重要的。从这个意义上说，为了实现超高速视觉伺服系统，我们必须建立描述组成系统的所有元素的动力学模型；参数辨识技术的发展；以及模型学习算法。今年主要做了以下研究：高速手视伺服系统：研制了一种高速多指手视伺服系统。提出了一种稳定接住落球和落柱的算法，并通过实验对超高速视觉伺服系统的性能进行了评价。微生物跟踪系统：研制了一种能稳定观察游动草履虫的系统。大量草履虫游动的池的位置由XY阶段控制。视觉伺服稳定区域的扩大：考虑到摄像机视野有限的限制，研究了扩大视觉伺服稳定区域的方法。视觉伺服系统的组成与鲁棒性：本研究指出，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。抓球提球任务：做了抓球提球实验。

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.