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工业机器人研究已进入智能化阶段,用视觉传感器来实现机器人的智能化具有很多的应用场合和很好的工程可实现性。本文研制了六自由度工业机器人机械本体,基于运动控制卡模式构建了机器人控制的软、硬件系统。在此基础上,运用dsp视觉处理系统实现了视觉信息与控制系统的通讯,运用摄像头对动态目标图像信息的获取,能够实现机械手末端跟随动态目标运动。实验结果表明,机械手末端能够在工作空间内沿任意轨迹运动,并且能够实现视觉范围内动态目标的视觉随动。该视觉功能六自由度机器人的成功研制为智能化工业机器人的产品化奠定了基础。 相似文献
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新时期,各行业开始重视应用机器人进行生产,逐步扩大其应用范围,相应的知识与技术支持更加宽泛,例如传感、人工智能、机械、信息及计算机等技术.基于现代化信息技术,使得工业机器人具有自动与智能化系统,推动工业自动化发展.文章阐述了自动化控制行业中工业机器人的应用,希望对相关领域研究有所帮助. 相似文献
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《机械科学与技术》2014,(12):1818-1825
三坐标测量机、经纬仪、激光扫描仪、在线视觉测量等空间坐标测量系统逐渐在逆向工程中得到应用,但是复杂测量任务对测量范围、测量精度、测量环境的要求越来越高,现有技术已不能很好地满足工业需求。在介绍国内外学者提出的基于机器人的空间坐标测量方法的基础上,利用机器人的高柔性、高效率以及可搭载多种传感器等优点,解决测量任务中范围大、环境复杂、自动化要求高等问题。对基于机器人的空间坐标测量技术研究进行了系统综述,阐述了基于机器人的空间坐标测量技术研究现状,并分析了其技术理论与应用研究中的困难和解决方法。基于多机器人的组合式空间坐标测量代表了未来发展的方向之一。 相似文献
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Shiuh-Jer Huang Jin-Po Tsai 《The International Journal of Advanced Manufacturing Technology》2005,27(3-4):334-344
A vision guided tabletop robotic assembly system is constructed for the random environment automatic assembly purpose. The
distributed control structure is designed for this assembly system. A PC is specified as the central control unit for machine
vision operation and the harmonization of At89c51 distributed control unit for each axis. The machine vision is introduced
to search the locations and measure the size of the assembly parts in the robotic workspace. Then, the central controller
commands the robot to pick the part sequentially based on the specified program to complete the automatic assembly process.
The model-free fuzzy sliding mode control scheme is embedded in each joint micro controller for simplifying the model based
control problem. The central control unit PC communicates with each joint controller by network communication. This assembly
system is implemented on a 3 DOF SCARA robot. The experimental results show that the robotic motion control performance is
good enough for assembling work; the vision pattern classification and assembly motion paths planning and monitoring are exactly
executed by the central control unit. The goal of this robotic random assembly operation is achieved with the appropriate
integration of robotic motion control, machine vision, sensor and assembly force detecting techniques. 相似文献
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为了实现定位抓取任务,提出基于网络的直角坐标机器人视觉控制系统。针对机器人运动控制的非线性与强耦合特性,采用神经网络控制器,构建了图像偏差与运动控制量之间的对应关系。通过对图像增强、边缘提取、特征提取等图像处理方法的综合分析,提出了一套优化组合图像处理法。在计算机网络环境下,采用自定义协议实现图像处理器与运动控制器协调控制,并将远程监控应用到机器人控制中。实验结果表明,该系统能够在视野范围内自动实现定位抓取动作。 相似文献
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软体机械臂由于具有多自由度、高灵活性、较强的环境适应能力以及安全可交互性高等优势,近年来在生物医疗和海洋
勘探等诸多领域得到广泛应用。 软体机械臂采用高度可变形的柔性材料制作而成,由于其材料的非线性特征,软体机械臂的精
确控制一直是该领域的研究重点和难点,国内外研究人员针对软体机械臂的控制方法开展了大量研究并取得了较大进展。 但
是目前仍然存在若干问题,亟待探讨解决方法。 为此,本文梳理了近十年来国内外研究人员在软体机械臂的运动控制方法上取
得的研究成果,分析总结了目前软体机械臂常用的控制方法和最新技术等,指出了软体机械臂控制面临的难题与挑战,并对软
体机械臂控制方法的未来发展方向进行了探讨和展望。 相似文献
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Dr Shiuh-Jer Huang Chih-Feng Hu 《The International Journal of Advanced Manufacturing Technology》1996,12(6):450-454
Since a robotic manipulator has a complicated mathematical model, it is difficult to design a control system based on the complicated multi-variable nonlinear coupling dynamic model. Intelligent controllers using fuzzy and neural network approaches do not need a real mathematical model to design the control structure and have attracted the attention of robotic control researchers recently. A traditional fuzzy logic controller does not have learning capability and it needs a lot of effort to search for the optimal control rules and the shapes of membership functions. Owing to the time-varying behaviour of the system, the required fine tracking accuracy is difficult to achieve by adjusting the fuzzy rules only. The implementation problems of neural network control are the initial training and initial transient stability. In order to improve the position control accuracy and system robustness for industrial applications, a neural controller is first trained off-line by using the input and output (I/O) data of a traditional fuzzy controller. Then the neural controller is implemented on a five-degrees-of-freedom robot with a back propagation algorithm for online adjustment. The experimental results show that this neural network controller achieved the required trajectory tracking accuracy after 15 on-line operations. 相似文献
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Usually, a humanoid robot has two arms and stereo vision system to execute human daily actions. It has complicate mechanism
and mechatronics control system structure. The hardware control structure should be planned ingeniously to execute the complicate
computation of 3D image processing and manipulate a multi degree of freedom dual arms motion control, especially for mobile
robot system. Here a 7 DOF dual arms robot with FPGA hardware control structure and a digital signal processor (DSP) based
CMOS stereo vision system are designed and built in our lab. The intelligent fuzzy sliding mode control strategy is employed
to establish the visual guided robotic motion control software. This low cost humanoid robotic system has compact control
structure and mechanism integration for mobile application purpose. Object detecting and tracking schemes in 3D space were
developed for locating the target position and then guided the robot arm to pick and place objects or track the specified
moving target. Experimental results show that this delicate robotic system has basic humanoid function. 相似文献
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针对水下机械臂动力学模型不确定和未知外界干扰问题,采用基于HJI理论的径向基函数神经网络自适应控制算法对水下机械臂进行控制。首先,以水下六自由度机械臂为例,基于D-H法则对水下机械臂的运动学进行分析,通过仿真验证该方法的正确性;接着,基于蒙特卡洛法构建水下六自由度机械臂的运动空间云图,真实反映水下机械臂的运动空间;然后,以二自由度水下机械臂为例,设计基于HJI理论的RBF神经网络自适应控制器,利用神经网络的万能逼近原理逼近不确定干扰项,考虑到神经网络逼近存在误差,将逼近误差看作外界干扰项并通过HJI理论对逼近误差在线评价,评价系统对干扰项的抑制能力,并采用自适应算法在线估计网络权值,加快系统收敛;最后,通过仿真可知,该机械臂能较好地完成轨迹跟踪。 相似文献
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针对典型的三关节液压挖掘机器人,结合力反馈与模糊神经网络方法提出了力/位置并环递阶控制策略.实现了具有自学习功能的挖掘机器人的作业过程运动控制.仿真分析表明,将这种控制策略用于挖掘机器人的运动控制系统具有可行性. 相似文献
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Shen Hongyuan Huang Xixia Lin Tao Chen Shanben 《The International Journal of Advanced Manufacturing Technology》2009,44(5-6):512-519
The control of weld formation in gas tungsten arc welding is required for “teach and playback” robot to suit the gap variation in the multi-pass welding process. This paper presents a robotic system based on the real-time vision measurement. A close-loop control system is developed for weld formation control in backing welding. A novel prediction model of reinforcement is investigated as the feedback element. At last, the feasibility of proposed system was validated in the experiments. 相似文献
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Shihua WANG Bugong XU YunHui LIU Yeming ZHOU 《Frontiers of Mechanical Engineering in China》2008,3(3):299-306
A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network
delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor
proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on
the information exchange between the sensors at the master and slave sides. To precisely predict the time delay, a new timer
synchronization algorithm is proposed. To decrease delay-jitter, a new data buffer scheme is performed. Force feedback and
a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness
of the proposed method and system are proven by teleoperation experiments via the internet over a long distance.
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Translated from Robot, 2007, 29(4): 305–312 [译自: 机器人] 相似文献
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In this paper, force and position control of parallel kinematic machines are discussed. Cartesian space computed torque control is applied to achieve force and position servoing directly in the task space within a sensor-based control architecture. The originality of the approach resides in the use of a vision system as an exteroceptive pose measurement of a parallel machine tool for force control purposes. Three different mechanical structures with different degrees of freedom are considered to validate the approach. 相似文献