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Alternative TitleThe Study and Implementation of Open Robot Controller and Vision Control
Thesis Advisor谭民
Degree Grantor中国科学院自动化研究所
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword机器人 开发式 控制器 运动学 视觉控制 Robot Open Architecture Controller Kinematics And Vision Control
Abstract开放式机器人控制器,是当前机器人控制器研究的一个方向。本文是在 国家“863”项目“开放式模块化机器人控制器开发”(课题编号9804-03) 资助下完成的。 在现代制造业生产中,工业机器人有着重要的作用。它的发展经历了三 个不同的阶段:从最初的示教再现机器人,到具有一定信息反馈功能的机器 人,再到智能化的机器人。本文回顾了机器人控制器的发展过程,指出了传 统的具有封闭式结构的机器人控制器的不足。 在此基础上,本文重点讨论了与开放式机器人控制器相关的问题,总结 了开放式机器人控制器的特点,提出了开放式机器人控制器应具有的功能和 相应的体系结构。 根据开放式机器人控制器的功能和结构需要,本文研究了机器人控制器 中的主要算法,包括坐标系定义、逆运动学、轨迹规划、示教再现、上位机 与下位机的通讯等,并在我们实验室的开放式机器人控制器上实现以上算法, 给出了示教的结果。 在实现开放式机器人控制器基本功能的基础上,本文进行了机器人视觉 控制中的主要算法研究,包括二值图像平滑、二值图像细线化、线图像的线 段分割和Hough变换等。在我们实验室的开放式机器人控制器上,首次实现 了视觉控制功能。同时,开放式机器人控制器提供了方便的接口,首次集成 了网络通讯功能、语音控制功能。所有这些,扩充了开放式机器人控制器的 功能,充分体现了开放式机器人控制器的优点。
Other AbstractThe shift to the design of the open robot controller is certain tendency of the study of robot controller. The finished thesis is partly supported by one of the National High-tech R&D Projects of China the Design of Open Robot Controller. The applications of industrial robot play an important part in the modem manufacturing industry. Its development experienced three stages: teaching by showing on-line robot, intelligent robot functioning on certain sensor information feedback, and the advanced intelligent robot. In this paper, the development history of robot controller in the past is reviewed and the shortcomings of the close architecture robot controller are discussed. Then, many aspects about Open Robot Controller are discussed, including the characteristics, the needed functions and the architecture. A kind of new integrated robot controller with open and modular architecture is presented. According to the functions of the Open Robot Controller, the followings are discussed carefully: the definition of coordinates, inverse kinematics, path planning, teaching and showing, communication between the upper computer and the lower computer. These are the principal algorithms on the robot control and implemented in our laboratory. Based on the principal functions of the Open Robot Controller, the algorithms of robot vision control are studied, including binary morphology and thinning of binary images, segmentation and hough transform. The vision control is implemented in the Open Robot Controller of our laboratory for the first time. Moreover, the interfaces of the Open Robot Controller are flexible. So the functions of communication by network and voice control are integrated easily. That shows the advantages of the Open Robot Controller.
Other Identifier595
Document Type学位论文
Recommended Citation
GB/T 7714
李国亮. 开放式机器人控制器及视觉控制的研究与实现[D]. 中国科学院自动化研究所. 中国科学院自动化研究所,2001.
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