中国机械工程2024，Vol.35Issue(6)：1064-1073,10.DOI:10.3969/j.issn.1004-132X.2024.06.012
二阶锥约束规划的机器人视觉闭环位姿自协调方法
Robot Vision Closed-loop Pose Autonomous Coordination Method with Second-order Cone Constrained Programming
摘要
Abstract
A robot"hand-eye"pose autonomous coordination was regarded as a uncalibration con-strained programming problem,and a visual closed-loop control method was proposed based on sec-ond-order cone constrained programming.Firstly,the visual servoing control algorithms were con-structed in the image planes and Cartesian space,respectively based on images and positions.After that,by established the path constraint and the local minimal constraint rules,and a second-order cone convex optimization model was constructed to realize the compromise optimal control of image feature trajectory and robot motion path.Moreover,the proposed second-order cone constrained pro-gramming model was embedded with an adaptive state estimator,to realize robotic Jacobian matrix online mapping learning,and to solve the unknown problems of"hand-eye"calibration parameters and visual depth information.Finally,the uncalibrated robot visual positioning experiments prove the ef-fectiveness of the convex optimization planning model,and the real grasping tasks illustrate the feasi-bility of the robot pose autonomous coordination.关键词
位姿协调/约束规划/无标定视觉伺服/混合闭环反馈控制Key words
pose coordination/constrained programming/uncalibration visual servoing/hybrid closed-loop feedback control分类
信息技术与安全科学引用本文复制引用
仲训杲,罗家国,田军,仲训昱,彭侠夫,刘强..二阶锥约束规划的机器人视觉闭环位姿自协调方法[J].中国机械工程,2024,35(6):1064-1073,10.基金项目
国家自然科学基金(61703356) （61703356）
福建省自然科学基金(2022J011256) （2022J011256）
