基于遗传算法模式匹配的机器人实时视觉伺服

对于机器人手臂来讲 ,对工作环境的识别是完成一个智能任务的最重要的问题之一 .因为这种智能可以使它工作在一个变化的环境中 .本文提出了一种新的机器人手臂的控制策略 ,可以利用视觉信息来指导机器人的手臂在它的工作空间中捡起一个已知形状但任意位置和方向的物体 .在对物体的搜索过程中 ,利用基于视觉闭环的视觉伺服来完成对机器人手臂的运动控制 .本系统利用遗传算法 (Genetic Algorithm ,GA)和模式匹配技术完成对搜索空间的搜索并获得了良好的结果 .本文完成了对带有两连杆手臂的视觉伺服系统的仿真 ,仿真结果证明了算法的有效性

ROBOT REAL-TIME VISUAL SERVOING BASED ON GA-PATTERN MATCHING

For a robot manipulator, the recognition of its working environment is one of the most important issues to do intelligent tasks, since this aptitude enables it to work in a variable environment.This paper presents a new control strategy for robot manipulator, which utilizes visual information to direct the manipulator in its working space,to pick up an object of known shape but with arbitrary position and direction. During the search for an object to be picked up, vision based control by closed loop feedback, referred to as visual servoing, is performed to obtain the motion control of the manipulator hand. The system employs a genetic algorithm (GA) and a pattern matching technique to explore the search space and exploit the best solutions by this search technique. Simulation have been performed, using a two link planar manipulator, in order to find which one is the best for real time visual servoing and the results show the effectiveness of the control method.