基于双目视觉的机器人目标定位与机械臂控制

2012－09－192012－12－262013－04－08SKLS－2009－MS－10SHUCX1200831988－。http//．cnki．net/kcms/detail/61．1450．TP．20130408．1631．041．html晁衍凯，徐昱琳，周勇飞，吕晓梦，王明(上海大学机电工程与自动化学院，上海200072)。D－H3+1。HSVTP24A1673－629X201307－0006－04doi10．3969/j．issn．1673－629X．2013．07．002TargetPositioningandMechanicalArmControlofRobotBasedonBinocularVisionCHAOYan－kaiXUYu－linZHOUYong－feiLXiao－mengWANGMingCollegeofMechatronicsEngineeringandAutomationShanghaiUniversityShanghai200072ChinaAbstractInordertointeractwithcomplexandchangeableenvironmentsfinishtherecognitionandgrabforobjectahumanoidrobotarmcontrolmethodbasedonbinocularvisionispresentedthatemployedinservicerobot．ManipulatorismodeledbyD－Hmethodinthispa-perthemodelisimprovedasampleinversearithmeticofhumanoidmanipulatorispresented．Thetargetobjectisrecognizedbycolorsegmentationandthe3Dpositioniscomputedbythestereovisionsystem．Afterpositioningthetargetablindgraspisperformedbythemanipulator．Experimentalresultsareconductedforillustrationofeffectivenessoftheproposedmethodsandtheservicerobotcanrecog-nizeandgrabtheobject．KeywordshumanoidmanipulatorinversekinematicsbinocularvisionHSVservicerobot060。ASI-MO1HRP－22ISAC3UJI4。5。。6。。。。D－HDenavit－Hartenberg7D－H3+1。8。。23720137COMPUTERTECHNOLOGYANDDEVELOPMENTVol．23No．7July201319。10。。。、。PointGreyBumblebee2HSVHue－Saturation－Value。1．11。图1摄像头与成像平面的几何关系bfPxPl1l2。ΔPl1l2ΔPOF2xp=x1×bx1－x2+byp=f×bx2－x1+bzp=z1×bx1－x2+b11．2RGBRed－Green－BlueHSVHISCMYCyan－Magenta－Yellow。HSVRGB。HSVRGBHSVh=cos－112R－G()R－B()R－G()2+R－B()G－B()槡s=1－minRGBvv=R+G+B32HSVHSV。。VC++6．02、。图2目标物体、轮廓及形心。211。6。D－HDenavit－Hartenberg3。图3手臂模型等效简化图36+16+1。12。6+13+13+1·7·7。32、56。x2。D－HYY。AA3。θzl。4。A1=cosθ10－sinθ10sinθ10cosθ100－1000001A2=sinθ2cosθ20－cosθ2l2+l3－cosθ2sinθ20－sinθ2l2+l300100001A3=cosθ3－sinθ30sinθ3l4+l5+l6sinθ3cosθ30－cosθ3l4+l5+l6001000013T=A1A2A3A4=c1s2s3l4+l5+l6－c1c2c3l4+l5+l6－c1c2l2+l3s1s2s3l4+l5+l6－s1c2c3l4+l5+l6－s1c2l2+l3c2s3l4+l5+l6+s2c3l4+l5+l6－s2l2+l344c1、c2、c3、s1、s2、s3cosθ1、cosθ2、cosθ3、sinθ1、sinθ2、sinθ3。3、。。P=nxoxaxpxnyoyaypynzozazpz000155P1、P2、P3、、P4。T=P4θ1、θ2、θ3。1tanθ1=pypxθ1=arctanpypx62θ3θ3=π－arccosl4+l5+l62+l2+l32－x2+y2+z22l4+l5+l6l2+l373c2s3l4+l5+l6+s2c3l4+l5+l6+s2l2+l3=pz8acosθ2+bsinθ2=pz9aa2+b槡2cosθ2+ba2+b槡2sinθ2=pa2+b槡210cosθ2+β=pza2+b槡21112θ2θ2=arccospza2+b槡2－β124。4．1426。NISE3110。CAN。4．2。·8·23图4服务机器人硬件结构。15/s640×480。1。mm。20．251．420．15mm15cm6cm。5。图5机械臂抓取流程图5。D－H3+1。。表1实验数据表mmmmmmmmmm1169．0533．5140．7190．9533．6141．7190．8533．6141．721．80．11．02142．0550．0168．1152．9548．8168．1142．7551．6168．10．71．603130．2537．0235．7162．0537．4237．7161．2537．6237．7310．6－2．04110．1549．6215．0146．0548．8215．7131．1552．8215．621．03．20．6X20．25Y1．42Z0．151MatsunagaSHigakiNFujimuraK．TheintelligentASIMOSystemoverviewandintegrationC//Proceedingofthe2002IEEE/RSJIntlConferenceonIntelligentRobotsandSystems．s．l．s．n．2002．2HaraIAsanoFAsohHetal．RobustspeechinterfacebasedonaudioandvideoinformationfusionforhumanoidHRP－2C//Procof2004IEEE/RSJInternationalConferenceonIntelligentRobotsandSystems．s．l．s．n．20042404－2410．3KawamuraKPetersAAIWilkesMMetal．ISACFounda-tionsinHuman－humanoidInteractionJ．IEEEIntelligentSystemandTheirApplication200015438－45．4PratsMSanzPJdelPobilAP．Model－basedTrackingandHybridForce/VisionControlfortheUJILibrarianRobotC//Procof2005IEEE/RSJInternationalConferenceonIntelligentRobotsandSystems．s．l．s．n．2005．5PaulRPShimanoBEMayerG．Kinematicscontrolequa-tionsforsimplemanipulatorsJ．IEEETransonSMC19811161398－1406．6NikuSB．IntroductiontoRoboticsAnalysisSystemsApplica-tionsM．BeijingPublishingHouseofElectronicsIndustry200428－85．7．J．20092911983－987．8．J．20101871637－1640．9．J．20124812244－247．10．J．20042789－93．11．J．2010173387－392．12．J．201044711348－11353．·9·7