视觉驱动机械臂自主作业技术综述

Review on autonomous operation technology of vision-based manipulator

视觉驱动机械臂自主作业技术在工业生产、航空航天以及深海探测等诸多领域都具有重要的意义.在回顾多年视觉驱动机械臂自主作业技术的基础上,从基于几何驱动的控制和基于数据驱动的控制两个方向进行归纳总结.对不同的控制方法,介绍了控制的原理,总结了每一类自主作业控制的研究成果,并对每种控制方法的特点以及存在的问题进行分析.针对视觉驱动机械臂自主作业在关键领域中的研究,本文重点分析讨论了海洋开发与探测领域中存在的关键问题与挑战.

Autonomous operation of vision-based manipulator is of great significance in many fields such as industrial production,aerospace and deep-sea exploration.Here we summarize the autonomous operation technology of vision-based manipulator in light of their control schemes:geometric driven control and data driven control.The control principles as well as related work are introduced,then strengths of and challenges faced by each category are analyzed.Finally,key issues and challenges for autonomous control of vision-based manipulator in fields of ocean development and exploration are summarized.