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针对特定夹持器和环形物,基于搭建的微装配实验平台,提出了一种显微视觉引导下,夹持器相对于环形物的趋近运动控制策略。在垂直显微视觉引导下,基于夹持器和环形物的几何先验知识,实现了夹持器和环形物的多几何特征提取,从而实现了二者相对位置检测,并且根据夹持器头的几何先验知识及显微视觉检测结果,实现了对夹持器头的持续跟踪。在视觉信息反馈下,采用变结构控制器控制夹持器的运动,实现了对夹持器的快速稳定运动控制。实验结果验证了该运动控制策略的有效性。
Aiming at the special gripper and ring, a control strategy of approaching movement of the gripper with respect to the ring under micro-vision was proposed based on the micro-assembly platform. Under the guidance of vertical micro-vision, based on the geometrical prior knowledge of the holder and the ring, the multi-geometric feature extraction of the holder and the ring is realized, so as to realize the relative position detection between the holder and the ring, Geometric prior knowledge and microscopic visual inspection results, to achieve sustained tracking of the holder head. Under the visual feedback, the variable structure controller is used to control the movement of the gripper, which achieves the fast and stable motion control of the gripper. The experimental results verify the effectiveness of the motion control strategy.