基于机器视觉的机器人仿生机械手避障轨迹控制系统

以提高机械手末端关节避障控制精准度为目的,提出一种基于机器视觉的机器人仿生机械手避障轨迹控制系统。以具有高灵敏性和主动性的控制器、伺服驱动器、无线通信器以及高网络带宽的传感监测器为硬件基础,采用机器视觉技术捕捉机械手关节动作。然后根据动力学原理建立避障位姿坐标系,代入关节动作数据计算其在坐标系中的位置。在定义控制范围的基础上,根据隶属度函数计算机械手在轨迹方向上夹角,并随机输出一个动态夹角变量。通过对变量值目标求导得出适配性最高的调节阈值,结合实际情况通过阈值调节实现精准控制。实验表明,该系统能够有效控制机械手末端关节避开障碍物达到指定目标位置,应用效果较好。

Obstacle Avoidance Trajectory Control System of Robot Bionic Manipulator Based on Machine Vision

In order to improve the precision of obstacle avoidance control for the end joint of the robot , an obstacle avoidance trajectory control system of robot bionic manipulator based on machine vision was proposed.Based on the hardware of controller with high sensitivity and initiative , servo driver , wireless communicator and sensor monitor with high network bandwidth , the robot joint motion is captured by machine vision technology.Then , according to the principle of dynamics , the coordinate system of obstacle avoidance position and posture was established , and the joint’s position in the coordinate system was calculated by substituting the joint’s motion data.On the basis of defining the control range , the included Angle of manipulator in the direction of trajectory is calculated according to the membership function , and a dynamic included Angle variable is output randomly.By differentiating the variable value target , the adjustment threshold with the highest adaptability is obtained , and the precise control is realized by adjusting the threshold according to the actual situation.Experiments show that the system can effectively control the end joint of the manipulator to avoid obstacles and reach the specified target position , indicating that its application effect is good.