The work of this dissertation is supported in part by two National High-tech R&D Projects: "The Design of Open Robot Controller" and "Numeral Control System for Ship Block Jointing". Researches on visual servo control and multi-robot coordination are important directions in the robotics field, not only in theory but also in practice. The dissertation is related to both of these two areas, but the focus is on the former. Firstly, the general research situation in the field of robotics is reviewed, and the study status of visual servo control of robots has been discussed in detail. Then the research background and main content of the paper are introduced. After that, the problems of visual tracking, Visual-Motor function and the realization of visual control of robot are studied thoroughly. Finally, the study of multi-robot coordination in ship-block jointing is carried out. In visual tracking, an adaptive threshold section method based on grayscale histogram is proposed and has been successfully applied to the object recognition in the process of visual tracking. In addition, the Adaptive Tracking Differentiator and the Predictive Tracking Differentiator, two modification versions of the Tracking Differentiator, are presented and applied successfully to the prediction of the ROI position in the process of visual tracking. As to visual-motor function, an automatic data-driven visual-motor function building method has been proposed, based on a thoroughly analysis of the universal approximation ability of fuzzy inference system. For the realization of visual servo control system, a prototype of PC-based open robot controller is proposed and realized. After that, the communication and scheduling approaches are discussed in the context of multiple running tasks. Then, by considering the different demands of communication efficiency and data integrality for two typical applications of the robot, the corresponding methods of task scheduling and communication are proposed. Finally, a moving object tracking system is built on the results of all researches above. As to multi-robot coordination and control, the kinematics algorithm, trajectory planning method and jointing control strategy of a multi-robot based ship block jointing system are presented. The research results have been successfully applied in practice. As a result, not only the jointing system's precision can be ensured, but also the production efficiency can be improved greatly.
修改评论