微操作避障和定位控制研究

RESEARCH ON AVOIDING OBSTACLES AND AUTOMATIC POSITIONING FOR MICROMANIPULATION

介绍了目前微操作的应用状况和存在的问题,提出了多种微操作定位控制方法,根据卷包裹法和曲线跟踪技术设计了避障和定位控制算法,能检测视场中的障碍物,并计算避障路径,控制末端微执行器稳定、连续地自动避障和定位。最后通过避障和定位的试验和精度分析证明了算法的可行性。

The application and problems of micromanipulation are introduced. The frames of micropositioning mode are provided. According to the techniques of curve tracing and package rolling, the algorithms of automatic positioning and avoiding obstacles are designed. These algorithms have the function of automatic detecting edges and choosing paths for avoiding obstacles. It helps the micromanipulation system automatically avoid obstacles and position in a steady and continuous manner. Experiments and analyses for avoiding obstacles and positioning are also shown to prove the feasibility of these algorithms.