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基于多传感器的大口径器件自动对准策略

卢金燕 徐德 覃政科 王鹏 任超

卢金燕, 徐德, 覃政科, 王鹏, 任超. 基于多传感器的大口径器件自动对准策略. 自动化学报, 2015, 41(10): 1711-1722. doi: 10.16383/j.aas.2015.c150053
引用本文: 卢金燕, 徐德, 覃政科, 王鹏, 任超. 基于多传感器的大口径器件自动对准策略. 自动化学报, 2015, 41(10): 1711-1722. doi: 10.16383/j.aas.2015.c150053
LU Jin-Yan, XU De, QIN Zheng-Ke, WANG Peng, REN Chao. An Automatic Alignment Strategy of Large Diameter Components with a Multi-sensor System. ACTA AUTOMATICA SINICA, 2015, 41(10): 1711-1722. doi: 10.16383/j.aas.2015.c150053
Citation: LU Jin-Yan, XU De, QIN Zheng-Ke, WANG Peng, REN Chao. An Automatic Alignment Strategy of Large Diameter Components with a Multi-sensor System. ACTA AUTOMATICA SINICA, 2015, 41(10): 1711-1722. doi: 10.16383/j.aas.2015.c150053

基于多传感器的大口径器件自动对准策略

doi: 10.16383/j.aas.2015.c150053
基金项目: 

国家自然科学基金(61379097, 61100098)资助

详细信息
    作者简介:

    卢金燕 中国科学院自动化研究所博士 研究生. 2011 年获得北京航空航天大学 计算机科学与技术专业硕士学位. 主要 研究方向为位姿检测, 视觉测量, 机器人 控制. E-mail: jinyan.lu@ia.ac.cn

    通讯作者:

    徐德 中国科学院自动化研究所研究 员. 主要研究方向为机器人和自动化, 视 觉测量, 视觉控制, 智能控制, 焊缝跟踪, 视觉定位, 显微视觉, 微装配. 本文通信 作者. E-mail: de.xu@ia.ac.cn

An Automatic Alignment Strategy of Large Diameter Components with a Multi-sensor System

Funds: 

Supported by National Natural Science Foundation of China (61379097, 61100098)

  • 摘要: 针对大口径器件的装配, 基于搭建的实验平台, 提出了一种多传感器反馈的分阶段自动对准策略, 实现了大口径器件的六自由度位姿对准. 对准过程中, 在机器人末端远离装配位置时, 采用视觉测量安装框架的相对位姿进行粗对准; 在机器人末端接近装配位置时, 由于安装框架尺寸大导致视觉不能获得完整的框架相对于大口径器件的位姿, 所以采用视觉采集安装框架的局部图像, 利用基于图像的控制消除绕Z轴的旋转误差和沿X、Y轴的平移误差, 采用多个激光测距传感器测量相对距离, 利用基于位置的控制消除沿Z轴的平移误差和绕X、Y轴的旋转误差, 实现大口径器件与安装框架的精对准. 采用增量式PI控制算法, 实现了对准的运动控制. 实验结果验证了所提方法的有效性.
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出版历程
  • 收稿日期:  2015-01-27
  • 修回日期:  2015-05-23
  • 刊出日期:  2015-10-20

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