文献类型：会议论文

英文题名：A Research on Autonomous Position Method for Mobile Robot Manipulator based on Fusion Feature

作者：Du, Mingfang[1];Wang, Junzheng[1];Wang, Lipeng[1];Cao, Haiqing[1];Fang, Jianjun[2];Gao, Zongyu[2];Lv, Ji[2];Zhang, Shide[2]

第一作者：Du, Mingfang

通讯作者：Du, MF[1]

机构：[1]Beijing Inst Technol, Coll Automat, Beijing 100081, Peoples R China;[2]Beijing Union Univ, Coll Automat, Beijing, Peoples R China

第一机构：Beijing Inst Technol, Coll Automat, Beijing 100081, Peoples R China

通讯机构：[1]corresponding author), Beijing Inst Technol, Coll Automat, Beijing 100081, Peoples R China.

会议论文集：10th IEEE International Conference on Mechatronics and Automation (ICMA)

会议日期：AUG 04-07, 2013

会议地点：Takamatsu, JAPAN

语种：英文

外文关键词：Autonomous mobile robot; Feature Fusion; Fuzzy CMAC; Machine vision; RFID

摘要：The cooperative work process and the automation work flow of the no man keeping watch library which takes the robot as its center and uses the internet of things technology are firstly introduced in this paper. A new data format of the RFID electronic label for books is designed, and the robustness of positioning of the manipulator is improved by the information fusion of the RFID label source and the CCD sensor source installed on the manipulator. A position method named THREE STEPS by the combination of fuzzy position, area position and accurate position is advanced, and the complex books positioning and grasping question is transformed into the world coordinate solving question of some point on the objective book. The fuzzy CMAC (cerebella model articulation controller) neuron network is adapted to realize the non-line relationship of fusion feature and manipulator position. And direct vision servo control architecture is used when designing the manipulator position system. The experiment result has proved this method can help the manipulator realize the accurate position and rapid catching.