【摘要】：隨著科學(xué)技術(shù)的日益發(fā)展,機器人領(lǐng)域得到人們越來越多的關(guān)注,機器人技術(shù)極大地改變了人們生產(chǎn)和生活方式。在此基礎(chǔ)上的機器人視覺伺服技術(shù),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(fù)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(gòu)構(gòu)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(biāo)的動態(tài)跟蹤。首先,對機械臂和運動目標(biāo)分別進(jìn)行數(shù)學(xué)建模,根據(jù)跟蹤指標(biāo)和實時性要求對機械臂進(jìn)行運動學(xué)分析,正運動學(xué)分析采用D-H法確定關(guān)節(jié)轉(zhuǎn)動角度和機械臂末端位置的函數(shù)關(guān)系,逆運動學(xué)分析采用幾何法求解機械臂當(dāng)前位置對應(yīng)各個關(guān)節(jié)的轉(zhuǎn)動角度。在運動控制部分,推導(dǎo)出機械臂的關(guān)節(jié)模型,設(shè)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(diào)試,最終實現(xiàn)多關(guān)節(jié)的聯(lián)合運動;在視覺圖像處理部分,采用達(dá)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(biāo)的特征矢量;此外,再通過視覺控制器將目標(biāo)的位置信息轉(zhuǎn)化為關(guān)節(jié)電機的期望轉(zhuǎn)動角度值。最后,在Matlab的RTW環(huán)境下進(jìn)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(shè)計的合理性,并根據(jù)實際調(diào)試的結(jié)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(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP241

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 張應(yīng)輝;劉養(yǎng)碩;;基于幀差法和背景差法的運動目標(biāo)檢測[J];計算機技術(shù)與發(fā)展;2017年02期

2 張博;;基于D-H坐標(biāo)系法的機器人運動學(xué)研究[J];電子科技;2016年06期

3 王偉;王建農(nóng);;激光成像雷達(dá)圖像邊緣檢測算法研究與仿真[J];激光雜志;2015年04期

4 張克涵;狄正飛;劉曉強;武黎明;;基于Matlab無刷直流電機雙閉環(huán)調(diào)速系統(tǒng)仿真研究[J];微電機;2015年02期

5 牟海榮;;基于機器視覺的工業(yè)機器人分揀技術(shù)研究[J];科技創(chuàng)新與應(yīng)用;2014年16期

6 鄭光;王迤冉;;雙閉環(huán)直流調(diào)速系統(tǒng)優(yōu)化及仿真研究[J];計算機仿真;2013年07期

7 譚民;王碩;;機器人技術(shù)研究進(jìn)展[J];自動化學(xué)報;2013年07期

8 陳亞;沈晨;;五自由度機械臂的運動學(xué)分析[J];北京石油化工學(xué)院學(xué)報;2013年01期

9 徐揚生;閻鏡予;;機器人技術(shù)的新進(jìn)展[J];集成技術(shù);2012年01期

10 ;Design of Robotic Visual Servo Control Based on Neural Network and Genetic Algorithm[J];International Journal of Automation & Computing;2012年01期

相關(guān)碩士學(xué)位論文 前1條

1 王金;RM-501五自由度機械臂視覺伺服系統(tǒng)的設(shè)計[D];哈爾濱工業(yè)大學(xué);2010年

，

本文編號：2441656