视觉伺服抓取系统及其数字孪生系统研究
|
摘要
针对智能制造生产线中的机器人抓取需求,设计了视觉伺服抓取系统;以视觉伺服控制系统为基础,设计并构建了视觉伺服数字孪生系统,实现了数字模型与物理模型的信息同步、互操作以及数字模型对物理模型状态的预测。对于目标物体的不同运动情况制定了3种目标运动状态预测方案,通过数字孪生系统对抓取实验的模拟结果确定使用不同方案的条件,为物理实体的抓取提供最优方案。以NAO机器人为实验平台实现了系统的抓取任务,通过实验验证了方案的有效性。
Aiming at the grasping demand of intelligent manufacturing line,the visual servo grabbing system was designed.Based on the visual servo control system,a visual servo Digital Twin(DT)system was designed.The information synchronization and interoperation between digital model and physical model and the prediction of the physical model state by digital model were realized.Three target motion state prediction schemes were developed for different motion conditions of the target object.The conditions of using different schemes were determined by the simulation results of grasping experiments with DT system.The NAO robot was used as the experimental platform to realize the system's grasping task,and the effectiveness of the scheme was verified by experiments.
Aiming at the grasping demand of intelligent manufacturing line,the visual servo grabbing system was designed.Based on the visual servo control system,a visual servo Digital Twin(DT)system was designed.The information synchronization and interoperation between digital model and physical model and the prediction of the physical model state by digital model were realized.Three target motion state prediction schemes were developed for different motion conditions of the target object.The conditions of using different schemes were determined by the simulation results of grasping experiments with DT system.The NAO robot was used as the experimental platform to realize the system's grasping task,and the effectiveness of the scheme was verified by experiments.
引文
[1]HE Jifeng.Cyber-physical system[J].China Computer Federation Newsletter,2010,6(1):25-29(in Chinese).[何积丰.信息物理系统[J].中国计算机学会通讯,2010,6(1):25-29.]
[2]TAO Fei,LIU Weiran,LIU Jianhua,et al.Digital twin and its potential application exploration[J].Computer Integrated Manufacturing Systems,2018,24(1):1-18(in Chinese).[陶飞,刘蔚然,刘检华,等.数字孪生及其应用探索[J].计算机集成制造系统,2018,24(1):1-18.]
[3]GUO J,ZHAO N,SUN L,et al.Modular based flexible digital twin for factory design[J].Journal of Ambient Intelligence and Humanized Computing,2018,1(7):1-13.
[4]ZHANG Y,QIU M,TSAI C W,et al.Health-CPS:healthcare cyber-physical system assisted by cloud and big data[J].IEEE Systems Journal,2017,11(1):88-95.
[5]ZHAO Y,LIU Q,XU W,et al.Dynamic and unified modelling of sustainable manufacturing capability for industrial robots in cloud manufacturing[J].International Journal of Advanced Manufacturing Technology,2017,93(1):1-19.
[6]ALAM K M,SADDIK A E.C2PS:a digital twin architecture reference model for the cloud-based cyber-physical systems[J].IEEE Access,2017,5(1):2050-2062.
[7]LENG J,ZHANG H,YAN D,et al.Digital twin-driven manufacturing cyber-physical system for parallel controlling of smart workshop[J].Journal of Ambient Intelligence&Humanized Computing,2018,1(6):1-12.
[8]TAMMOARO A,ALVARO S,MORENO A,et al.Extending industrial digital twins with optical object tracking[EB/OL].[2018-05-03].https://pdfs.semanticscholar.org/6ea2/6a98f58851667d4acc674ce92a80de157986.pdf.
[9]BARTOCCI E,DESHMUKH J,DONIEA,et al.Specification-based monitoring of cyber-physical systems:a survey on theory,tools and applications[J].Lecture Notes in Computer Science,2018,10457:135-175.
[10]WEN S,GUO G.Control and resource allocation of cyberphysical systems[J].Iet Control Theory&Applications,2016,10(16):2038-2048.
[11]TAO F,CHENG J,QI Q,et al.Digital twin-driven product design,manufacturing and service with big data[J].International Journal of Advanced Manufacturing Technology,2018,94(9/10/11/12):3563-3576.
[12]WEN Jingrong,WU Muqing,SU Jingfang.Cyber-physical system[J].Acta Automatica Sinica,2012,38(4):507-517(in Chinese).[温景容,武穆清,宿景芳.信息物理融合系统[J].自动化学报,2012,38(4):507-517.]
[13]JIAO Xiaoxuan,JING Bo,HUANG Yifeng,et al.UAVground target tracking system based on information physics fusion system[J].Computer Measurement&Control|Comput Measure Contrl,2014,22(11):3683-3687(in Chinese).[焦晓璇,景博,黄以锋,等.基于信息物理融合系统的无人机地面目标跟踪系统[J].计算机测量与控制,2014,22(11):3683-3687.]
[14]YU Jianyun,MEN Yusen,RUAN Xiaogang,et al.The research and implementation of behavior imitation system about Nao robot based on Kinect[J].CAAI Transactions on Intelligent Systems,2016,11(2):180-187(in Chinese).[于建均,门玉森,阮晓钢,等.基于Kinect的Nao机器人动作模仿系统的研究与实现[J].智能系统学报,2016,11(2):180-187.]
[15]PISHARADY P K,SAERBECK M.A robust gesture detection and recognition algorithm for domestic robot interactions[C]//Proceedings of the International Conference on Control Automation Robotics&Vision.Washington,D.C.,USA:IEEE,2015:775-780.
[16]HARTENBERG R S,DENAVIT J.Kinematic synthesis of linkages[EB/OL].[2018-02-23].https://ecommons.cornell.edu/bitstream/handle/1813/58640/013_007.pdf?sequence=7.
[17]RANJAN A,KUMAR U,LAXMI V,et al.Identification and control of NAO humanoid robot to grasp an object using monocular vision[C]//Proceedings of the 2nd International Conference on Electrical,Computer and Communication Technologies,Washington,D.C.,USA:IEEE,2017:1-5.
[18]YU Lingtao,WANG Wenjie,WANG Zhengyu,et al.Amethod for obtaining inverse kinematics analytical solutions for robots that do not satisfy Pieper criterion[J].Robot,2016,38(4):486-494(in Chinese).[于凌涛,王文杰,王正雨,等.一类不满足Pieper准则的机器人逆运动学解析解获取方法[J].机器人,2016,38(4):486-494.]
[19]KESHMIRI M,XIE W F.Image-based visual servoing using an optimized trajectory planning technique[J].IEEE/ASMETransactions on Mechatronics,2017,22(1):359-370.
[20]KAMEL M,STASTNY T,ALEXIS K,et al.Model predictive control for trajectory tracking of unmanned aerial vehicles using robot operating system[M]//Robot Operating System(ROS).Berlin,Germany:Springer-Verlag,2017:3-39.
[21]SHAFIEE M,YOUSEFI A,SHARIAT M,et al.Push recovery of a humanoid robot based on model predictive control and capture point[C]//Proceedings of the International Conference on Robotics and Mechatronics.Washington,D.C.,USA:IEEE,2017.DOI:10.1119/ICROM.2016.7886777.
[22]GRIEVES M.Digital Twin:Manufacturing Excellence through Virtual Factory Replication[EB/OL].[2018-04-23].https://research.fit.edu/media/site-specific/researchfitedu/camid/documents/1411.0_Digital_Twin_White_Paper_Dr_Grieves.pdf.
[23]TAO Fei,ZHANG Meng,CHENG Jiangfeng,et al.Digital twin workshop-a new mode of future workshop operation[J].Computer Integrated Manufacturing Systems,2017,23(1):1-9(in Chinese).[陶飞,张萌,程江峰,等.数字孪生车间---一种未来车间运行新模式[J].计算机集成制造系统,2017,23(1):1-9.]
[2]TAO Fei,LIU Weiran,LIU Jianhua,et al.Digital twin and its potential application exploration[J].Computer Integrated Manufacturing Systems,2018,24(1):1-18(in Chinese).[陶飞,刘蔚然,刘检华,等.数字孪生及其应用探索[J].计算机集成制造系统,2018,24(1):1-18.]
[3]GUO J,ZHAO N,SUN L,et al.Modular based flexible digital twin for factory design[J].Journal of Ambient Intelligence and Humanized Computing,2018,1(7):1-13.
[4]ZHANG Y,QIU M,TSAI C W,et al.Health-CPS:healthcare cyber-physical system assisted by cloud and big data[J].IEEE Systems Journal,2017,11(1):88-95.
[5]ZHAO Y,LIU Q,XU W,et al.Dynamic and unified modelling of sustainable manufacturing capability for industrial robots in cloud manufacturing[J].International Journal of Advanced Manufacturing Technology,2017,93(1):1-19.
[6]ALAM K M,SADDIK A E.C2PS:a digital twin architecture reference model for the cloud-based cyber-physical systems[J].IEEE Access,2017,5(1):2050-2062.
[7]LENG J,ZHANG H,YAN D,et al.Digital twin-driven manufacturing cyber-physical system for parallel controlling of smart workshop[J].Journal of Ambient Intelligence&Humanized Computing,2018,1(6):1-12.
[8]TAMMOARO A,ALVARO S,MORENO A,et al.Extending industrial digital twins with optical object tracking[EB/OL].[2018-05-03].https://pdfs.semanticscholar.org/6ea2/6a98f58851667d4acc674ce92a80de157986.pdf.
[9]BARTOCCI E,DESHMUKH J,DONIEA,et al.Specification-based monitoring of cyber-physical systems:a survey on theory,tools and applications[J].Lecture Notes in Computer Science,2018,10457:135-175.
[10]WEN S,GUO G.Control and resource allocation of cyberphysical systems[J].Iet Control Theory&Applications,2016,10(16):2038-2048.
[11]TAO F,CHENG J,QI Q,et al.Digital twin-driven product design,manufacturing and service with big data[J].International Journal of Advanced Manufacturing Technology,2018,94(9/10/11/12):3563-3576.
[12]WEN Jingrong,WU Muqing,SU Jingfang.Cyber-physical system[J].Acta Automatica Sinica,2012,38(4):507-517(in Chinese).[温景容,武穆清,宿景芳.信息物理融合系统[J].自动化学报,2012,38(4):507-517.]
[13]JIAO Xiaoxuan,JING Bo,HUANG Yifeng,et al.UAVground target tracking system based on information physics fusion system[J].Computer Measurement&Control|Comput Measure Contrl,2014,22(11):3683-3687(in Chinese).[焦晓璇,景博,黄以锋,等.基于信息物理融合系统的无人机地面目标跟踪系统[J].计算机测量与控制,2014,22(11):3683-3687.]
[14]YU Jianyun,MEN Yusen,RUAN Xiaogang,et al.The research and implementation of behavior imitation system about Nao robot based on Kinect[J].CAAI Transactions on Intelligent Systems,2016,11(2):180-187(in Chinese).[于建均,门玉森,阮晓钢,等.基于Kinect的Nao机器人动作模仿系统的研究与实现[J].智能系统学报,2016,11(2):180-187.]
[15]PISHARADY P K,SAERBECK M.A robust gesture detection and recognition algorithm for domestic robot interactions[C]//Proceedings of the International Conference on Control Automation Robotics&Vision.Washington,D.C.,USA:IEEE,2015:775-780.
[16]HARTENBERG R S,DENAVIT J.Kinematic synthesis of linkages[EB/OL].[2018-02-23].https://ecommons.cornell.edu/bitstream/handle/1813/58640/013_007.pdf?sequence=7.
[17]RANJAN A,KUMAR U,LAXMI V,et al.Identification and control of NAO humanoid robot to grasp an object using monocular vision[C]//Proceedings of the 2nd International Conference on Electrical,Computer and Communication Technologies,Washington,D.C.,USA:IEEE,2017:1-5.
[18]YU Lingtao,WANG Wenjie,WANG Zhengyu,et al.Amethod for obtaining inverse kinematics analytical solutions for robots that do not satisfy Pieper criterion[J].Robot,2016,38(4):486-494(in Chinese).[于凌涛,王文杰,王正雨,等.一类不满足Pieper准则的机器人逆运动学解析解获取方法[J].机器人,2016,38(4):486-494.]
[19]KESHMIRI M,XIE W F.Image-based visual servoing using an optimized trajectory planning technique[J].IEEE/ASMETransactions on Mechatronics,2017,22(1):359-370.
[20]KAMEL M,STASTNY T,ALEXIS K,et al.Model predictive control for trajectory tracking of unmanned aerial vehicles using robot operating system[M]//Robot Operating System(ROS).Berlin,Germany:Springer-Verlag,2017:3-39.
[21]SHAFIEE M,YOUSEFI A,SHARIAT M,et al.Push recovery of a humanoid robot based on model predictive control and capture point[C]//Proceedings of the International Conference on Robotics and Mechatronics.Washington,D.C.,USA:IEEE,2017.DOI:10.1119/ICROM.2016.7886777.
[22]GRIEVES M.Digital Twin:Manufacturing Excellence through Virtual Factory Replication[EB/OL].[2018-04-23].https://research.fit.edu/media/site-specific/researchfitedu/camid/documents/1411.0_Digital_Twin_White_Paper_Dr_Grieves.pdf.
[23]TAO Fei,ZHANG Meng,CHENG Jiangfeng,et al.Digital twin workshop-a new mode of future workshop operation[J].Computer Integrated Manufacturing Systems,2017,23(1):1-9(in Chinese).[陶飞,张萌,程江峰,等.数字孪生车间---一种未来车间运行新模式[J].计算机集成制造系统,2017,23(1):1-9.]