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计算机工程 ›› 2011, Vol. 37 ›› Issue (20): 16-17.doi: 10.3969/j.issn.1000-3428.2011.20.006

• 博士论文 • 上一篇    下一篇

基于视觉伺服的自主微装配方法

曾祥进 1a, 1b，黄心汉 2   

  1. (1. 武汉工程大学 a. 计算机科学与工程学院；b. 智能机器人湖北省重点实验室，武汉 430070；2. 华中科技大学控制科学与工程系，武汉 430074)
  • 收稿日期:2011-04-18 出版日期:2011-10-20 发布日期:2011-10-20
  • 作者简介:曾祥进(1977－)，男，讲师、博士，主研方向：微操作机器人，机器视觉；黄心汉，教授、博士生导师
  • 基金项目:
    国家“863”计划基金资助项目(2008AA8041302)

Independent Micro-assembly Method Based on Visual Servo

ZENG Xiang-jin 1a,1b, HUANG Xin-han 2   

  1. (1a. School of Computer Science & Engineering; 1b. Hubei Provincial Key Lab of Intelligent Robot, Wuhan Institute of Technology, Wuhan 430070, China; 2. Department of Control Science & Engineering, Huazhong University of Science and Technology, Wuhan 430074, China)
  • Received:2011-04-18 Online:2011-10-20 Published:2011-10-20

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摘要： 研究基于视觉伺服的自主微装配方法，为实现深度信息估计，提出一种基于马尔可夫随机场的散焦特征参数模型，将散焦特征深度信息的估计转化为能量函数的优化问题，采用Broyden 图像雅可比矩阵实现视觉伺服控制。通过微夹钳自动定位与夹取实验，验证了该方法的有效性。

关键词: 深度估计, Broyden方法, 图像雅可比矩阵, 视觉伺服, 微装配

Abstract: This paper studies the independent micro-assembly method based on visual servo. In order to realize the depth information estimation, it presents a blur parameter model of defocus image based on Markov random field for performing an effective and reliable automatic micro- assembly, which converts the problem of depth estimation into optimization problem. An improved Broyden method for estimating the image Jacobian matrix online is presented as the visual servo method. It designs the experiment of microgripper fix position and clip. Experimental results confirm that the proposed methods are effective.

Key words: depth estimation, Broyden method, image Jacobian matrix, vision servo micro-assembly

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