摘要
介绍了一种毫米级全方位微机器人,设计用于微型工厂中的微装配操作。采用外部计算机视觉系统进行监控,先利用CCD摄像头捕捉微型机器人顶部及夹钳上的特征标志,再通过设计的视觉处理方法,实现了对微机器人的高精度识别和定位。在利用计算机视觉进行反馈控制的基础上,采用了对装配平台进行分区、快速前进与高精度步进相结合的运动控制策略,实现高精度的微装配任务。实验验证了以上方法和策略的有效性。
A millimeter-scaled omnidirectional microrobot designed for microassembly in a microfactory is presented in this paper. The microrobot is supervised by an external computer vision system. Its recognition and localization are realized precisely, through capturing the signs on the microrobot top and the micro-gripper by CCD cameras firstly, and then through the designed vision process methods. Based on the feedback control of computer vision, a precise microassembly task is achieved by the designed motion control strategies, such as the division of the microassembly platform, and the combination of fast movement and precise step movement. The validity of the methods and strategies above are demonstrated by the experiment.
出处
《电光与控制》
北大核心
2009年第6期72-76,共5页
Electronics Optics & Control
基金
国家"八六三"项目(2007AA04Z340)
教育部博士点基金(20060248057)
关键词
微装配
移动微机器人
识别
定位
运动控制
microassembly
mobile microrobot
recognition
localization
motion control
