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.

基于感觉反馈的控制系统后自动表面的实际问题之一是接近传感器的可靠性。当感觉信息在表面的不连续部分（例如拐角和边缘）下降时，自主任务也必须不连续。为了解决该问题，本研究讨论了一种用简单的视觉系统补充接近传感器的方法。研究的结果总结如下：1使用商业超声范围传感器的超声波接近传感器，构建了超声超声范围传感器和超声波传感器。2。设计和制造了阳性机理，以使传感器方向保持到物镜的正常方向3。开发了一个活跃的天线臂，该臂安装在操纵器的手上，并在执行以下任务之前搜索客观表面。手臂在安装在尖端的超声接近传感器的反馈控制基础上移动。4。开发了一个简单而紧凑的视觉传感器来研究表面条件。传感器检测到表面上投射的缝隙模式并测量表面的形状。传感器安装在天线臂的尖端，并检测到表面的角和边缘5。开发了一种算法，以根据视觉信息避免表面的边缘或角落。6。将开发的系统应用于机器人操纵器的任务之后的表面，几个实验表明该系统可以自动避免表面的不连续部分，并在控制后继续自主表面。结果表明，开发的系统可以应用于机器人操纵器的实际表面上。