基于虚拟连杆机构的类圆柱体目标位姿获取

doi:10.3969/j.issn.1000-1093.2014.06.020

兵工学报 ›› 2014, Vol. 35 ›› Issue (6): 885-890.doi: 10.3969/j.issn.1000-1093.2014.06.020

基于虚拟连杆机构的类圆柱体目标位姿获取

罗磊^1,2，陈恳¹, 马振书², 穆希辉²

（1.清华大学机械工程系，北京 100084；2.总装备部军械技术研究所，河北石家庄 050000）

收稿日期:2013-12-20 修回日期:2013-12-20 上线日期:2014-07-24
作者简介:罗磊（1972—），男，博士研究生
基金资助:
国家“863”计划项目（2001AA422420）

Position and Pose Measurement of Cylinder-like Object Based on Virtual Pole Mechanism

LUO Lei^1,2, CHEN Ken¹, MA Zhen-shu², MU Xi-hui²

(1.Mechanical Engineering Department,Tsinghua University, Beijing 100084, China;2.Institute of Ordnance Technology, Chinese PLA General Armament Department, Shijiazhuang 050000, Hebei, China)

Received:2013-12-20 Revised:2013-12-20 Online:2014-07-24

摘要/Abstract

摘要： 目标位姿获取是制约排爆机器人智能化程度的关键技术与环节。针对危险弹药等类圆柱体目标的位姿获取难题，设计了一种以具有角度反馈的云台为底座、以激光测距传感器光束为虚拟连杆的目标位姿获取机构，描述其组成和测量原理，给出利用该机构实现位姿获取的计算、验证方法与公式，对测量误差进行分析。采用该机构和方法，仅需采集空间两点的坐标信息即可同时获取弹药等类圆柱体的位置和姿态，作业效率高，适于工程应用。设计了遥操作位姿测量系统，将该机构用于排爆机器人，获取的位姿精度能够满足使用要求，可直接用于引导机械手实现路径规划与自主抓取，效果良好。

关键词: 控制科学与技术, 排爆机器人, 位姿, 激光测距传感器, 数字云台

Abstract: A mechanism, which uses a digital pan-tilt and a beam from laser rangefinding sensor as virtual pole to measure the position and pose of cylinder-like object, is presented. The structure, constitution and measuring principle of the mechanism are described in detail. Calculation method and formulas are also given. The position and pose of an ammunition can be synchronously measured using the given mechanism and algorithm if the positions of two points in space are known. The mechanism can be used for explosive ordnance disposal robot for the position and pose measurement of ammunition. The measured data can be used to guide the route planning and autonomous movement of robot arm.

Key words: control science and technology, explosive ordnance disposal robot, position, pose, laser rangefinding sensor, digital pan-tilt

中图分类号:

罗磊，陈恳, 马振书, 穆希辉. 基于虚拟连杆机构的类圆柱体目标位姿获取[J]. 兵工学报, 2014, 35(6): 885-890.

LUO Lei, CHEN Ken, MA Zhen-shu, MU Xi-hui. Position and Pose Measurement of Cylinder-like Object Based on Virtual Pole Mechanism[J]. Acta Armamentarii, 2014, 35(6): 885-890.

参考文献

［1］孔新立，金丰年，蒋美蓉. 恐怖爆炸袭击方式及规模分析[J]. 爆破, 2007, 24(3): 88-92.
KONG Xin-li, JIN Feng-nian, JIANG Mei-rong. Analysis of way and scale of terroristic raid[J]. Blasting, 2007, 24(3): 88-92. (in Chinese)
[2] 范路桥,姚锡凡,祁亨年.排爆机器人的研究现状及其关键技术[J].机床与液压,2008,36(6):139-143.
FAN Lu-qiao, YAO Xi-fan, QI Heng-nian. Research progress and key techniques of explosive ordnance disposal robot[J]. Machine Tool & Hydraulics, 2008, 36(6): 139-143. (in Chinese)
[3] 金周英,白英.我国机器人发展的政策研究报告[J].机器人技术与应用,2009(2):1-7.
JIN Zhou-ying, BAI Ying. Policy research report of robot development[J]. Robot Technique and Application, 2009(2): 1-7. (in Chinese)
[4] Dakis , Ann. Human presence detection: the navy has tri-service responsibility for EOD-related science and technology development[J].CHIPS, 2011, 29(4):50-52.
[5] Jean , Grace V. New robots planned for bomb disposal teams[J]. National Defense, 2011, 96(692):28-31.
[6] Zuniga A L A, Pedraza O J C, Gorrostieta E, et al. Design and manufacture of a mobile robot applied to the manipulation of explosives[C]∥Proceedings of the 11th IEEE International Conference on Power Electronics Congress, CIEP 2008. Morelos, Mexico: IEEE, 2008: 84-89.
[7] Zeng Jian-jun,Yang Ru-qing, Zhang Wei-jun. Research on semi-automatic bomb fetching for an EOD robot[J]. International Journal of Advanced Robotic Systems,2008, 4(2): 247-252.
[8] Gonzalez-Galvan , Emilio J, Cesar A. Precise industrial robot positioning and path-tracking over large surfaces using non-calibrated vision[C]∥2011 IEEE International Conference on Robotics and Automation. Shanghai, China: IEEE, 2011: 5160-5166.
[9] Ming-Chih Lu, Chen-Chien Hsu, Yin-Yu Lu. Image-based system for measuring objects on an oblique plane and its applications in 2-D localization[J]. IEEE Sensors Journal, 2012,12(6):2249-2261.
[10] Tom Epton,Adam Hoover. Improving odometry using a controlled point laser[J]. Autonomous Robots, 2012(32): 165-172.
[11] Harvent J, Coudrin B, Brethes L, et al. Multi-view dense 3D modelling of untextured objects from a moving projector-cameras system [J]. Machine Vision and Applications, 2013, 24(8):1645-1659.

[1]	苗建明，王少萍，范磊，李元. 欠驱动自主水下航行器空间曲线路径跟踪控制研究[J]. 兵工学报, 2017, 38(9): 1786-1796.
[2]	查峰，覃方君，李京书，叶斌. 三轴旋转惯性导航系统的旋转控制建模研究[J]. 兵工学报, 2017, 38(8): 1610-1618.
[3]	伍明，张国良，李琳琳，付光远，李承剑. 基于动态和静态环境对象观测一致性约束的移动机器人多传感器标定优化方法[J]. 兵工学报, 2017, 38(8): 1630-1641.
[4]	王世峰，都凯悦，孟颖，王锐. 基于机器学习的车辆路面类型识别技术研究[J]. 兵工学报, 2017, 38(8): 1642-1648.
[5]	周荻，董金鲁. 带襟翼的飞行器非线性控制系统分析和设计[J]. 兵工学报, 2017, 38(7): 1322-1329.
[6]	郑睿，赵伟，方明星，杜友武. 基于多圈环绕结构的超流体陀螺噪声抑制方法[J]. 兵工学报, 2017, 38(7): 1330-1335.
[7]	邢丽, 熊智, 刘建业, 杭义军. 基于对偶四元数的圆锥及划船误差补偿改进算法[J]. 兵工学报, 2017, 38(7): 1336-1347.
[8]	庞辉, 陈嘉楠, 刘凯. 汽车磁流变半主动悬架系统自适应反推跟踪控制[J]. 兵工学报, 2017, 38(7): 1430-1442.
[9]	马艳彤，郑荣，韩晓军. 面向海底光学探测使命的自治水下机器人水平路径跟随控制[J]. 兵工学报, 2017, 38(6): 1147-1153.
[10]	陈慧岩，陈舒平，龚建伟. 智能汽车横向控制方法研究综述[J]. 兵工学报, 2017, 38(6): 1203-1214.
[11]	廖自力，阳贵兵，高强，袁东. 多轮独立电驱动车辆转向稳定性集成控制研究[J]. 兵工学报, 2017, 38(5): 833-842.
[12]	王斌锐，沈国阳，金英连，王凌. 基于干扰观测器的级联气动肌肉肘关节滑模控制[J]. 兵工学报, 2017, 38(4): 793-801.
[13]	李阁强，顾永升，李健，李跃松，郭冰菁. 被动式电液力伺服系统的自适应反步滑模控制[J]. 兵工学报, 2017, 38(3): 616-624.
[14]	周焕银, 刘亚平，胡志强，刘开周, 衣瑞文. 基于辨识模型集的无人半潜水下机器人系统深度动态滑模控制切换策略研究[J]. 兵工学报, 2017, 38(11): 2198-2206.
[15]	江梦洁，李家旺，吕艳芳，周家炜，黄汉涛. 饱和输入限制下欠驱动自主水下航行器水平面航迹跟踪控制[J]. 兵工学报, 2017, 38(11): 2207-2213.

基于虚拟连杆机构的类圆柱体目标位姿获取

Position and Pose Measurement of Cylinder-like Object Based on Virtual Pole Mechanism

PDF

可视化

被引次数

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价