基于视觉的吊装机器人卷扬随动控制研究

Visual Based Robotic Hoisting Motion Following Control

海洋浪涌对海洋物流吊装机械工作安全及可靠性有很大的影响。目前海浪运动补偿多基于IMU或MRU等船舶专用传感器,其成本较高。采用组合标识,提出基于视觉的吊装机器人卷扬随动控制方法。首先,对机械臂进行运动学分析以及手眼标定,采用视觉标识对复杂环境下的目标进行检测,采用主方向定位以及DLT算法对标识进行定位;然后通过建立卷扬系统模型,在速度环上采用伪微分反馈复合控制算法,使用基于双S形曲线运动规划加减算法进行目标运动跟踪、路径重规划,并采用加减速方法生成运动轨迹。通过搭建试验平台,模拟海上工作环境并进行静态目标和动态目标跟随试验,验证了卷扬升降控制的可行性以及随动控制策略的有效性。

The marine economy plays a very important and positive role in the national economy and social development. Because the ocean surges have a great impact on the safety and efficiency of marine logistics hoisting machine. At present,the wave motion compensation is mostly based on ship-specific sensors such as IMU or MRU,and the cost is high. A combination of logos was used,and a vision-based robotic hoisting motion following control method was proposed. Firstly,the kinematics analysis and handeye calibration of the manipulator were carried out. By using visual marker,the target objects in complex environments can be detected and identified. The man direction and direct linear transfer algorithm was used to calculate the orientation and position of the marker. A combination marker resisting image noise and occlusion issues with pose confusion scheme was designed. A quaternion based Kalman filter was used for pose estimation of combined marker. Then by establishing the hoist system model,the pseudodifferential feedback compound control algorithm was used on the speed loop. Trajectory tracking performance was improved. Based on the double S-shaped curve motion planning algorithm,the target motion tracking and path re-planning were performed,and the acceleration/deceleration method was used to generate motion trajectory. Based on the comprehensive experimental platform of marine automatic and intelligent lifting equipment which can simulate the offshore working environment,the visual-based hoisting robot arm winch lifting and following control method was studied. And static targets and dynamic target following experiments were performed,the feasibility of the hoisting lift control and the effectiveness of the follow-up control strategy were verified.