【摘要】：隨著科學技術的日益發(fā)展,機器人領域得到人們越來越多的關注,機器人技術極大地改變了人們生產(chǎn)和生活方式。在此基礎上的機器人視覺伺服技術,通過攝像頭等視覺傳感器引入視覺信息,使機器人獲得更高的感知能力和更強的靈活性,能夠在多種多樣的場合完成更加復雜的工作。本文研究的對象是RM-501機械臂,以其作為執(zhí)行機構構建基于位置的視覺伺服控制系統(tǒng),控制機械臂末端對于運動目標的動態(tài)跟蹤。首先,對機械臂和運動目標分別進行數(shù)學建模,根據(jù)跟蹤指標和實時性要求對機械臂進行運動學分析,正運動學分析采用D-H法確定關節(jié)轉動角度和機械臂末端位置的函數(shù)關系,逆運動學分析采用幾何法求解機械臂當前位置對應各個關節(jié)的轉動角度。在運動控制部分,推導出機械臂的關節(jié)模型,設計基于位置和速度的雙閉環(huán)控制系統(tǒng),其中外環(huán)為位置環(huán),內(nèi)環(huán)為速度環(huán)�？刂坡刹捎脗鹘y(tǒng)的PID控制方法,在Simulink中搭建控制模塊并調試,最終實現(xiàn)多關節(jié)的聯(lián)合運動;在視覺圖像處理部分,采用達芬奇數(shù)字媒體片上系統(tǒng)ICETEK-DM6446-B作為硬件平臺,在Code Composer Studio下編寫基于背景差法的圖像處理程序,提取運動目標的特征矢量;此外,再通過視覺控制器將目標的位置信息轉化為關節(jié)電機的期望轉動角度值。最后,在Matlab的RTW環(huán)境下進行RM-501機械臂的半實物仿真,驗證了機械臂伺服控制系統(tǒng)設計的合理性,并根據(jù)實際調試的結果分析系統(tǒng)的綜合性能。
[Abstract]:With the development of science and technology, people pay more and more attention to robot field. Robot technology has greatly changed people's production and life style. On this basis, the robot visual servo technology, through the camera and other visual sensors to introduce visual information, so that the robot to obtain higher perception and greater flexibility, can be in a variety of situations to complete more complex work. The object of this paper is the RM-501 manipulator, which is used as an actuator to construct a position-based visual servo control system to control the dynamic tracking of moving targets at the end of the manipulator. Firstly, the manipulator and the moving object are modeled mathematically, and the kinematics of the manipulator is analyzed according to the tracking index and the real-time requirement. In the forward kinematics analysis, the function relation between the rotation angle of the joint and the position of the end of the manipulator is determined by the D H method, and the rotation angle of each joint corresponding to the current position of the manipulator is solved by the geometric method in the inverse kinematics analysis. In the motion control part, the joint model of the manipulator is derived, and a double closed loop control system based on position and velocity is designed, in which the outer loop is the position loop and the inner loop is the velocity loop. The control law adopts the traditional PID control method, builds the control module in the Simulink and debugs, finally realizes the multi-joint movement; In the part of visual image processing, the digital media on-chip system ICETEK-DM6446-B is used as the hardware platform, and the image processing program based on background difference method is programmed under Code Composer Studio to extract the feature vector of moving object. In addition, the position information of the target is converted into the desired rotation angle of the joint motor by the visual controller. Finally, the hardware-in-the-loop simulation of the RM-501 manipulator under the RTW environment of Matlab is carried out to verify the rationality of the servo control system design of the manipulator, and the comprehensive performance of the system is analyzed according to the results of practical debugging.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP241

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