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Phuongphapdieukhiencamera Robot 130204205048 Phpapp02
Phuongphapdieukhiencamera Robot 130204205048 Phpapp02
Bn cnh cng c th phn loi theo tiu ch nh v mc tiu quan st, c h thng ch
quan st c mc tiu v mt loi quan st c mc tiu v u tay nm R bt. H thng th nht
gi l h end-point-loop (EOL), trong cc h thng ny i hi phi chun ho quan h khng gian
gia tay nm R bt v camera. Ngc li h thng sau end- closed-loop (ECL) c th quan st c
i tng v u tay nm R bt nn khng ph thuc vo nh x quan h khng gian gia tay nm
R bt v camera.
c trng nh v khng gian tham s c trng nh
Mt bc cn thit i vi bt k mt thut ton iu khin p dng visual servoing c bit
cc h thng s dng image-based l xc inh c trng nh v quan h ca n i vi m hnh. c
trng nh c th hiu l bt k mt c im no v cu trc c th trch lc ra t nh bao gm c cc
tnh cht ch yu v c tnh ph, c tnh hnh hc ca i tng. Vi cc gi tri thc xut hin
trong qu trnh o c cc c trng nh c trch lc ra t mt hoc nhiu nh lin tip cho php ta
xy dng khng gian tham s c trng nh.
i vi cc cc vt th rn c cu trc hnh hc c inh ( cng l i tng ch yu s
dng trong k thut iu khin R bt) cc thng s c trng nh thng l to ca cc im c
trng trn mt phng nh [u, v] , khong cch gia cc im v tham s ca cc on thng trn nh
[a, ] , trong tm v din tch (S), ... Tp hp cc vc t c trng nh to thnh khng gian thng s
c trng nh k hiu % = [u1 vl5 ... a1 1 ... S1 S2].
0
+
- H -\0)h(0,)
H -\0)
(2)
M t trng thi ca h thng iu khin phi tuyn cho camera gn trn tay my
Trong bo co ny trnh by mt h thng iu khin phi tuyn trn c s tuyn tnh ho cc
tn hiu c trng nh c phn hi trc tip t u ra tr li u vo, thm vo vic b trc
tip nh hng qu trnh ng hc ca robot cng c s l c hiu qu bng vic m rng thut
ton tnh m men thc cho cc khp.
Hot ng ca h thng c th hnh dung nh sau: khi camera gn trn tay robot hng v
i tng v thu nhn c nh ca i tng nu cc khp ca robot thc hin mt php quay 0
= [0j02..0m]T s lm cho v tr ca vt trn nh cng b thay i theo.
Gi l vc t t trng nh ca i tng c nh ngha trong khng gian nh 2 chiu
(2D) c 2n chiu tng ng n c trng c chn v d l s thay i vi phn ca c trng nh
khi v tr v hng ca camera thc hin mt dch chuyn vi phn d Xc, mt ma trn c Weiss
a ra ( tham kho thm ti liu [1] ) gi l ma trn Jacobian ca c trng nh m t mi
quan h gia cc i lng ny nh sau: # = Jfeature X ' (3)
th hin s bin thin ca c trng nh theo cc bin trong ca robot 0 = OO2..0m]T
ta c cng thc sau:
d = Jfeature Jrobot d 0
(4)
y Jrobot l ma trn Jacobian ca robot ta k hiu J(,0) = Jfeature Jrobot . Trong bi ton iu khin
robot bng hnh nh (visual servoing) ma trn J(,0) c th c xc nh bng nhiu phng
php khc nhau tham kho thm trong ti liu [2], trong m hnh iu khin c trnh by trong
bi bo ny, i vi tng cu hnh ca robot v camera c th th ma trn J(,0) s c xc inh
bng phng php gii tch.
Gi thit rng ta xc nh c ma trn J(,0) v ma trn khng b suy bin (
hng) vi mt i tng khng chuyn ng. Trong trng hp c trng nh ca
def
"0"
- H -l h
"0
,
-1
(9)
Nhm p dng k tht tuyn tnh ha tn hiu phn hi vo m hnh h thng trn ta thc hin php ly o hm bc
nht v bc hai ca u ra z nhn c kt qu nh sau:
z = GJ0
(10)
def &
n gin t = J0
z=G
d d
"e"
~d_
H -\-h + T )
= G d e + GJH-\-h + T)
de
(11)
Hoc
theo
z = L + ET
pz + Y = T
dng:
(12)
(13)
Trong
(14)
(15)
de
X.
_z( t - 2 )
Mng
Nron
.z(t - 1 )
. z (t)
<+>
+n
Tay my
gn Camera
z(t)
Kp
+ <
(t)
J
z (t)
Kd
A = 0
V = ( z + K z + K p z ) = (Az + A )
(20)
Trong trng hp xc nh c chnh xc cc tham s ca h thng ngha l A = 0 v
z + Kz + K pz = 0
(21)
dw dw
dng cp nht cc gi tr trng mi, thut hc c ci tin bng vic b xung thm mt thnh
phn gi l momentum c dn ra trong cng thc (26).
Aw(t) = -n v + aAw(t -1)
(26)
dw
Vi n l tc cp nht trng v a l h s ca thnh phn momentum.
4. Kt lun
Nhng nghin cu cho thy vic p dng phng php tnh m men trong iu khin robot
c s dng trc tip cc thng tin nh phn hi l thc hin c v c ngha thc t. Vic a
thm mng n ron nh l mt yu t thch nghi nhm b nhng sai lch do vic khng xc nh
c chnh xc cc tham s ca h thng l hon ton ph hp.
Cc chng trnh m phng trn MATLAB c tin hnh vi camera gng trn tay my hai
bc t do (2 DOF) c cc thm s ng lc hc c xc nh gn ng trong khong 80% gi
tr danh nh v i tng quan st c t trn mt mt phng trc giao vi trc quang hc ca
camera. Cc kt qu nhn c cho thy kh nng ng dng cc phng php tuyn tnh ho
tn hiu nh phn hi ni trn v tc dng ca mng n ron c b xung vo h thng iu
khin.
Ti liu tham kho
[1] .
A. C. Sanderson, L. E. Weiss, and C. P. Neuman. Dynamic sensor-based
control of robots with visual feedback, IEEE Trans.Robot.Autom, vol. RA-3, pp.404-417,
Oct. 1987.
[2] .
Seth Hutchinson, gregory D. Hager, and Peter I. Corke. A Tutorial on
Visual Servo Control, IEEE Transactions on Robotics and Automation, 12(5) October 1996.
[3] .
Martin Jgersand and Randal Nelson. On-line Estimation of Visual-Motor
Models using Active Vision, In Proc. ARPA Image Understanding Workshop 96,1996.
[4] .
Koichi Hashimoto and Hidenori Kimura. LQ Optimal and Nonlinear
Approaches to Visual servoing
[5] .
K. Hashimoto, T. Ebine, and H. Kimura. Visual Servoing with Hand-Eye
Manipulato Optimal Control Approach, IEEE Trans. Robot. Autom. 1996
[6] .
Seul Jung and T.C Hsia, A Study on Neural Network Control of Robot
Manipulators
[7] .
Seul Jung and T.C Hsia, On-line Neural Network Control of Robot
Manipulators, International Conference on Neural Information Processing, vol. 3, 16631668, 1994.
[8] .
Seul Jung and T.C Hsia. A New Neural Network Control Technique for Robot
Manipulator, Robotica, vol.13, pp 477-484,1995
[9] .
Bi Trng Tuyn and Phm Thng Ct. Pose-estimation of object in 3D
virtual space using an image received by camera applying to Robot-visual Servo Control,
Journal of Science and Technique, Military Technical Academy of Vietnam, pp 31-42, No.
97 (IV-2001).
[10]
.
Somlo - B.Lantos - P.T.Cat. Advanced Robot Control,
Akadmia Kiad, Budapest, 1997.