Study on Controlling Mechanical Manipulator for Timering Tunnel Support

本文研究了一种用于隧道支护的机械机械手的混合控制方法。该机械手配备了两个摄像头和力和力矩传感器，由四个元件组成，以实现视觉和触觉功能。视觉系统允许机械手从摄像头拍摄的图像中找到放置在底部的支撑件，并根据另一个摄像头检测到的图像确定工作件应该悬挂在其上的目的地。提出了一种新的二值图像数据扫描方法，用于确定物体的质心和惯性轴等快速几何特征，从而大大缩短了图像处理的时间。力和力矩传感器通过感知与物体或周围环境的接触来补充视觉系统，当机械手接近、抓住和释放工件时，通过实验室实验验证了将位置控制方案和力控制方案相结合的混合控制方法。实验结果证明，具有视觉和触觉功能的机械手能够熟练地操纵巷道支架的支护，并规划出一条机械手抓取的工件不与巷道壁面和机械手本身发生碰撞的路径。研究得出结论，当机械手沿着从夹持点开始到释放点终止的螺旋轨迹运送工件时，可以避免任何碰撞。

The present investigation deals with a hybrid controlling method for a mechanical manipulator which works for timbering of tunnel support. The manipulator was equipped with two cameras and a force and moment sensor consisting of four elements to implement visual and tactile functions.The vision systems allow the manipulator to find a support member placed on the foor from an image taken by a camera, and also to determine a destination, on which the work piece should be hang, from an image detected by another camera. A new scanning method of binary image data was developed to determine fast geometrical features of a object such as its centroid and inertia axis, resulting in a considerable reduction in time for image processing. The force and moment sensor complements the vision systems when the manipulator approaches, grasps and releases the work piece, by sensing contact with the object or surroundings.A laboratory experiment was carried out to validate the hybrid controlling method which combines a position control scheme with a force control scheme. The experimental result confirmed that the mechanical mamipulator with visual and tactile functions could manipulate skillfully timbering of tunnel support.The present investigation also includes planning a path along which the work piece grasped by the manipulator is free from collision with the wall of tunnel and the manipulator itself. The investigation concludes the manipulator can avoid any collisions whenever it carries the work piece along a spiral trajectory starting from the grip point and terminating at the release point.