Study On Control System For Micro-Handling Oriented Miniature Robot

In the application of micro-handling, miniature robot has the characteristics of flexible motion ability, high locating capability and compactness. It has bright application future and therefore becomes the research hotspot of relative institutes. In this paper, in which let robot as the study mainline and control robot based on visual information, control system for micro-handling oriented miniature robot is deeply studied.According to the analysis of micro-handling system based on miniature robot, the system of miniature robot is designed and established, including planar motion module driving by piezoelectric actuator, vertical motion module driving by stepper motor and visual system. At last, the structure of control system for micro-handling oriented miniature robot is described in brief.After establishing the kinematics model of planar motion module, obtain the model para-meters by identifying the kinematics model based on least squares. The high identification accuracy is proved by experiment result. Then, realize the point-to-point motion and linear tracking control for miniature robot using state-feedback which is based on control vector. Simulation and experiment result both show the feasibility of the control method. For solving the problem of uncertain model parameters and improving the stability of control method, study on a kind of reinforcement learning control method based on online least squares policy iteration, which is applied into the control for miniature robot. Prove the viability of this method by simulation on trajectory tracking.Study on technology about miniature robot applied in micro-handling. Miniature robot is guided by global visual system and microscopic visual system to achieve specific micro-handling tasks. Firstly, calibrate global camera using calibration method based on least squares, and examine the calibration accuracy by experiment in which measure length on plane. Then, measure the pose and position of miniature robot using the method based on feature plate and color space. Locate the micro-handling tool in microscopic vision with the help of template matching and contour detection. Finally, design and establish the control system based on focus measure for vertical motion module. Select focus windows using template matching. Smooth image noise by median filtering. Complete the selection on focus evaluation function through experimental evaluation on different image sharpness functions. Experiment results shows that focus evaluation data can be the basis of vertical control.