机器人自主开门作业研究

Research on Autonomous Door-Opening Task of Robot

针对移动作业机器人开门过程的定位和规划控制问题,提出一种实用可靠的机器人自主开门作业方法。首先使用二维激光扫描仪辨识门所在直线,结合单目手眼相机对门把手图像的识别,获取门把手的三维坐标,然后对机械臂设计力位混合控制方法,控制机器人以柔顺模式按压门把手打开门,并在开门过程中通过辨识门轴位置完成机器人定位,从而完成整个开门轨迹。实验表明,该方法能够使用较少的传感器实现机器人精确定位,并完成自主开门任务。

For the positioning,planning and control of mobile robot with manipulator in autonomous door-opening task,a practical and reliable approach is proposed in this paper.First,the position of the door handle is obtainedby combining theline of the door estimatedbya 2 D laser scannerwith image recognition of the handle bya single hand-eye camera. Then,the force/position hybrid control strategy is designed for the robot to compliantly press the handle and open the door. During the process of openingthe door,the robot is positioned by identifying the door hinge,so as to complete the door-opening trajectory. The experiment shows that the proposed method could achieve high-precision position with fewer sensors and accomplish the autonomous door-opening task.