An autonomous surface following control of robot manipulators using an ultrasonic proximity sensor and a vision sensor

使用超声波接近传感器和视觉传感器控制机器人操纵器的自主表面

• 批准号: 10650263
• 负责人: NAKAJIMA Shinichi
• 金额: $ 1.41万
• 依托单位: Niigata Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10650263/
• 关键词: Industrial robot; Ultrasonic proximity sensor; Vision sensor; Sensor based control; Autonomous control system; Active antenna arm; Surface following task

One of the practical problems of the autonomous surface following control system based on the sensory feedback is reliability of the proximity sensors. When the sensory information is decreased at discontinuous part of the surface, such as corners and edges, autonomous task also has to be discontinuous. In order to solve the problem, this research discusses a method to supplement the proximity sensor with a simple vision system.Results of the research are summarized as follows :1 An ultrasonic proximity sensor using a commercial ultrasonic range sensor and an ultrasonic orientation sensor was constructed.2. A gimbal mechanism was designed and fabricated to keep the sensor direction to the normal direction of an objective surface.3. An active antenna arm was developed, which is installed at the hand of a manipulator and searches the objective surface prior to the following task. The arm is moved on the bases of the feedback control of the ultrasonic proximity sensor installed at the tip.4. A simple and compact vision sensor was developed to investigate the surface conditions. The sensor detects a slit pattern projected on the surface and measure the shape of the surface. The sensor is installed at the tip of the antenna arm and detects the corners and edges of the surface.5. An algorithm was developed to avoid the edge or corner of the surface based on the vision information.6. The developed system was applied to the surface following tasks of robot manipulator and several experiments showed that the system can avoid the discontinuous part of the surface automatically and continue the autonomous surface following control.The results suggest that the developed system can be applied to the practical surface following tasks of robot manipulators.

基于传感反馈的自主表面跟随控制系统的实际问题之一是接近传感器的可靠性。当表面不连续部分（例如角落和边缘）的感觉信息减少时，自主任务也必须是不连续的。为了解决这个问题，本研究讨论了一种用简单的视觉系统来补充接近传感器的方法。研究结果总结如下：1 使用商用超声波距离传感器和超声波方向传感器构建了超声波接近传感器。 .2.设计并制作了万向节机构，使传感器方向保持与物面法线方向一致。 3．开发了一种有源天线臂，将其安装在机械手的手上，并在执行以下任务之前搜索目标表面。手臂的移动是根据安装在尖端的超声波接近传感器的反馈控制进行的。4．开发了一种简单紧凑的视觉传感器来研究表面状况。传感器检测投影在表面上的狭缝图案并测量表面的形状。传感器安装在天线臂的尖端，检测表面的角和边缘。5．开发了一种基于视觉信息的算法来避开表面的边缘或拐角。 6．将所开发的系统应用于机器人机械臂的曲面跟随任务中，多次实验表明，该系统能够自动避开曲面的不连续部分，继续自主曲面跟随控制。结果表明，所开发的系统可以应用于实际中。机器人操纵器的表面跟随任务。