視覺(jué)伺服可以應(yīng)用于機(jī)器人初始定位自動(dòng)導(dǎo)引、自動(dòng)避障、軌線(xiàn)跟蹤和運(yùn)動(dòng)目標(biāo)跟蹤等控制系統(tǒng)中。傳統(tǒng)的視覺(jué)伺服系統(tǒng)在運(yùn)行時(shí)包括工作空間定位和動(dòng)力學(xué)逆運(yùn)算兩個(gè)過(guò)程，需要實(shí)時(shí)計(jì)算視覺(jué)雅可比矩陣和機(jī)器人逆雅可比矩陣，計(jì)算量大，系統(tǒng)結(jié)構(gòu)復(fù)雜。本文分析了基于圖像的機(jī)器人視覺(jué)伺服的基本原理，使用BP 神經(jīng)網(wǎng)絡(luò)來(lái)確定達(dá)到指定位姿所需要的關(guān)節(jié)角度，將視覺(jué)信息直接融入伺服過(guò)程，在保證伺服精度的情況下大大簡(jiǎn)化了控制算法。文中針對(duì)Puma560 工業(yè)機(jī)器人的模型進(jìn)行了仿真實(shí)驗(yàn)，結(jié)果驗(yàn)證了該方
法的有效性。
關(guān)鍵詞： 視覺(jué)伺服； 圖像雅可比矩陣； 逆雅可比矩陣； BP 神經(jīng)網(wǎng)絡(luò)； 視覺(jué)控制器
Abstract: Visual servo system can be used in the control systems of robot original orientation guiding, obstacle avoiding, trajectory tracking and moving object tracking, etc. During working, the traditional visual servo system consists of two processes: determination of the workpiece position and inverse kinetic calculation. So real-time computation of visual Jacobian and inverse Jacobian of the robot have been needed. Both the computation and the structure of the system are complex. In this paper, the basic principle of robot visual servo
system is analyzed. A BP neural network is proposed to determine the required joint angles for the set position and orientation. This method can integrate visual data directly into the servo process, so under the condition that the servo precision is ensured, the computation of the control arithmetic is greatly simplified. The simulation experiment for Puma560 robot is made and simulation results proved the effectiveness of the method.
Keywords: Visual servo; Image jacobian matrix; Inverse jacobian matrix; BP neural nerwork; Visual controller