Compensation method for a robot vision system with an occluded camera field
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摘要: 無論Eye-in-Hand或Eye-to-Hand型式的機器視覺控制系統,均存在視場受限、丟失等情況,從而無法在一定距離、角度內對目標進行在線視覺測量,進而無法建立全閉環的伺服控制.基于Eye-in-Hand型式的機器視覺控制系統,以及最短測量距離Lmin,提出一種閉環與開環相結合的伺服控制系統:即測量距離大于Lmin時為位置反饋型閉環控制的原位調姿,在測量距離小于Lmin時為位置給定型開環控制,機器人以相對線性運動進給到目標位置.針對該過程中的偏移問題,提出了前饋補償模型,即利用前期運動數據對運動誤差進行估計.實驗證明,該方法能有效地補償定位誤差.Abstract: In both Eye-in-Hand and Eye-to-Hand robotic visual controls, problems such as limited field of view or tracking target loss remain. Thus, online measurement cannot be performed within a certain distance and a certain degree, and a closed-loop control cannot be constructed. Based on Eye-in-Hand visual control and the theoretical shortest measuring distance Lmin, a visual servo combining the closed-loop and open-loop controls was proposed. When above Lmin, an iterative compensation method was proposed to adjust the attitude with the online measured data. In contrast, when below Lmin, a feed-forward compensation for relative linear motion was integrated to improve the positioning accuracy, estimating the error by the data determined by actually moving the path of the robot record by the visual system. As shown by several experiments, this method can effectively enhance the position accuracy.
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Key words:
- visual servo control /
- compensation /
- industrial robots /
- binocular vision /
- camera field
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參考文獻
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