Fault-Tolerant Control Method of Robotic Arm Based on Machine Vision
作者单位：Southwest University of Science and Technology Datang Shandong Yantai Power Development co.LTD
会议名称：《第30届中国控制与决策会议》
会议日期：2018年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by National Nuclear Energy Development Research Project under Grant 20161295
关 键 词：Machine vision fault-tolerant control robotic arm Hough transform
摘 要：We proposed a fault-tolerant control method based on machine vision to enhance the reliability of the robotic arm in the radiation ***,we introduced the joint angle visual detection method as an angle detection backup solution,which was used to timely detect the joint angle of the robotic arm in case of encoder ***,we introduced an encoder fault diagnosis mechanism,and the difference between the machine visual feedback value and corresponding encoder feedback values was used as the basis of encoder *** the encoder failed,it could be switched to the joint angle visual detection in real *** the Canny edge detection and the Probabilistic Hough transform,the method could extract the identification tag of robotic arm joint image from the front-end camera,and hence the joint angle value was ***,in the fault-tolerance experiment,the proposed approach found the encoder failure and switched detection method,and the scheduled task continued to the *** error about the angle detection based on the machine vision would not exceed ± 0.008.