动机械系协调的服技-控制理论与应用.PDF

32 1 Vol. 32 No. 1 2015 1 Control Theory Applications Jan. 2015 DOI: 10.7641/CTA.2015.40490 , , , (1. , 100044; 2. , 110016) : (pan-tilt-zoom, PTZ), , . , (hue-saturation-value, HSV) , , ; , Hu, , ; , , , ; , , , . . : ; ; ; HSV; : TP273 : A Visual servo technology for coordinated manipulation of a mobile dual-arm manipulator system YANG Tang-wen , GAO Li-ning , RUAN Qiu-qi , HAN Jian-da (1. Institute of Information Science, Beijing Jiaotong University, Beijing 100044, China; 2. State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang Liaoning 110016, China) Abstract: Two pan-tilt-zoom (PTZ) cameras are used in this study to realize visual servo for coordinated manipulation of a mobile dual-arm manipulator system. The focus of this study is mainly on the problems of target object detection, recognition and localization in the indoor environment of scattered background and varying illumination. First, a modi- fied algorithm is proposed to detect objects in the hue-saturation-value (HSV) color space based on updated segmentation thresholds and bounding rectangles, which improves the detection algorithm’s adaptability to illumination variation. Sec- ond, the target is identified from the detected objects using the target contour features and the Hu’s moment invariants. Then, the spatial coordinates of the target object are computed with the cameras’ perspective matrices, and the target posi