V MT PHNG PHP IU KHIEN H CAMERA-ROBOT BM MC TIU s DNG MNG N RON

Tm tt ni dung
Bo co trnh by kh nng ng dng mng n ron trong iu khin h thng bao gm tay my c gn camera quan st v bm theo mc tiu. Phng thc iu khin da trn nguyn l tuyn tnh ho tn hiu nh phn hi. Mng n ron c a vo nhm gim nh tc ng ca nhng thnh phn ngu nhin, cho php s dng cc tham s'c chnh xc hn ch' vo trong m hnh ng hc ca h thng. Mng n ron c xem nh l mt yu t' thch nghi b xung vo h thng iu khin tng cng kh nng ca chng. An application of Neural Networks based visual servoing for hand-eye robot tracking target is introduced in this paper. The used control method bases input-output feedback linearization technique. The Neural Network is introdeced to compensate model uncertainties of overall system. It suffers if the parameter values are inaccurate in the model of dynamics, the presence of image distortions and time varying. Adding the NN controller as adaptive item in the control system is one effective way to compensate for the ill effects of these uncertainties and in fact it can in some cases be used for parameter estimation.

1. GII THIU M HNH H THNG l KHIEN R BT s DNG CAMERA

Cng vic s dng cc hnh nh thu nhn c bng camera trong qu trnh iu khin R bt (visual servoing) l mt hng nghin cu ang c quan tm trong lnh vc iu khin R bt. im chnh yu ca k thut ny l nhng thng tin hnh nh nhn c t camera s l nhng thng tin phn nh s quan st c v h thng v mi trng. Visual servoing l s tng hp kt qu ca rt nhiu lnh vc khc nhau bao gm x l nh tc cao, ng hc, ng lc hc, l thuyt iu khin v k thut tnh ton thi gian thc. H thng iu khin R bt c camera ph bin s dng hai dng m hnh sau: o Camera c t trong khng gian lm vic Camera c gn trn u tay nm R bt (hand-eye R bt)

Hnh 1. M hnh h thng iu khin R bt s dng camera

M hnh th nht camera c t trong khng gian lm vic ca R bt, khi nh ca i tng quan st khng ph thuc vo chuyn ng ca R bt. M hnh th hai camera c gn u tay nm R bt, trong trng hp ny nh i tng m camera thu nhn c ph thuc vo chuyn ng ca R bt. Phn loi cc h thng iu khin visual servoing Da theo tiu ch khai thc s dng hnh nh thu nhn c t camera ngi ta c th chia cc h iu khin visual servoing thnh hai loi nh sau: o iu khin trn c s s dng nhng thng tin v v tr i tng trch lc ra c t nh (Position_based servoing control). Trong iu khin position-based, cc c trng c trch lc ra t nh kt hp vi m hnh hnh hc ca i tng (gii hn trong cc i tng l vt rn) xc nh v tr ca i tng trong h trc to ca camera. Cn sai lch gia tn hiu phn hi v tr ca mc tiu v v tr mong mun c tnh ton trong khng gian lm vic (h to cc). iu khin trn c s s dng trc tip nh (Image_based servoing control). Vi dng iu khin ny, tn hiu sai lch c inh ngha v tnh ton trc tip ngay trong khng gian tham s c trng nh. Trong mi loi li c th chia thnh hai nhm da theo phng php iu khin, mt l thc hin qu trnh iu khin theo hai phase ring bit quan st v chuyn ng (look-and-move), loi th hai l s dng iu khin trc tip (direct visual servoing). Nu h thng iu khin phn cp ch s dng tn hiu nh do camera cung cp thit lp cc gi tr u vo cho cc b iu khin ca tng khp v ng thi s dng cc vng phn hi ti tng khp gi n nh chuyn ng ca R bt th l h iu khin kiu look- and-move. Ngc li h thng iu khin trc tip loi b hon ton vng phn hi ti tng khp, b iu khin visual servoing tnh ton tn hiu iu khin trc tip cho cc khp, n ch s dng cc tn hiu phn hi bng hnh nh gi n nh chuyn ng ca R bt.

Hnh 2a. Cu trc iu khin position-based look-and-move

Hnh 2b. Cu trc image-based look-and-move

Hnh 2c. Cu trc position-based direct visual servoing

Bn cnh cng c th phn loi theo tiu ch nh v mc tiu quan st, c h thng ch quan st c mc tiu v mt loi quan st c mc tiu v u tay nm R bt. H thng th nht gi l h end-point-loop (EOL), trong cc h thng ny i hi phi chun ho quan h khng gian gia tay nm R bt v camera. Ngc li h thng sau end- closed-loop (ECL) c th quan st c i tng v u tay nm R bt nn khng ph thuc vo nh x quan h khng gian gia tay nm R bt v camera. c trng nh v khng gian tham s c trng nh Mt bc cn thit i vi bt k mt thut ton iu khin p dng visual servoing c bit cc h thng s dng image-based l xc inh c trng nh v quan h ca n i vi m hnh. c trng nh c th hiu l bt k mt c im no v cu trc c th trch lc ra t nh bao gm c cc tnh cht ch yu v c tnh ph, c tnh hnh hc ca i tng. Vi cc gi tri thc xut hin trong qu trnh o c cc c trng nh c trch lc ra t mt hoc nhiu nh lin tip cho php ta xy dng khng gian tham s c trng nh. i vi cc cc vt th rn c cu trc hnh hc c inh ( cng l i tng ch yu s dng trong k thut iu khin R bt) cc thng s c trng nh thng l to ca cc im c trng trn mt phng nh [u, v] , khong cch gia cc im v tham s ca cc on thng trn nh [a, ] , trong tm v din tch (S), ... Tp hp cc vc t c trng nh to thnh khng gian thng s c trng nh k hiu % = [u1 vl5 ... a1 1 ... S1 S2].

2. s DNG MNG N-RGN TRONG IU KHIEN H RGBGT-CAMERA BM MC TIU

M t khi qut h thng Robot-camera v bi ton iu khin camera bm theo i tng bng s dng tn hiu c trng nh S khi h thng ch ra trn hnh 3 trong c mt camera c gn u ca tay my c m khp ni, s dng thu nhn hnh nh ca i tng quan tm. Cc tham bin Xc v X0 m t vi tr v hng ca camera v i tng trong khng gian thc. Cc vect , v tng ng l vi tr gc, vn tc gc cc khp ca tay my v c trng nh chng c th o v thu nh bng camera. Vc t momen iu khin T = [ T j T . . . t ] , trong bi ton iu khin camera bm theo i tng bng nh, c tnh ton trn c s sai lch (e) ca c trng nh hin thi actual nhn t camera v c trng nh mong mun desired , thm vo l cc tn hiu phn hi trng thi ca cc bin trong ca robot , nhm mc ch a camera v vi tr m ti hnh nh thu nhn c v i tng tng ng vi hnh nh mong mun.
T
2

Hnh 3. H thng iu khin tay my c gn camera M hnh ng hc ca Robot ng hc ca mt robot c m khp ni c m t bng mt h phng trnh vi phn nh sau: T = H () + h(,) (1) Trong = [12...m] T l vc t gc ca cc khp ni, T = [TjT2...Tm]T l vc t m men tng ng vi cc khp. H( ) l ma trn qun tnh [m x m] phn t l cc hm s ph thuc vo gc v vc t h (,) l vc t i din cho lc Coriolis, lc ly tm v trng lc ph thuc phi tuyn vo gc vn tc gc .

t cc bin trng thi l vector gc 0 v vector vn tc gc 0 ta c phng trnh trng thi ca robot nh sau:
~ 0 0 - H -\0)h(0,) + H -\0) T t (2)

M t trng thi ca h thng iu khin phi tuyn cho camera gn trn tay my Trong bo co ny trnh by mt h thng iu khin phi tuyn trn c s tuyn tnh ho cc tn hiu c trng nh c phn hi trc tip t u ra tr li u vo, thm vo vic b trc tip nh hng qu trnh ng hc ca robot cng c s l c hiu qu bng vic m rng thut ton tnh m men thc cho cc khp. Hot ng ca h thng c th hnh dung nh sau: khi camera gn trn tay robot hng v i tng v thu nhn c nh ca i tng nu cc khp ca robot thc hin mt php quay 0 = [0j02..0m]T s lm cho v tr ca vt trn nh cng b thay i theo. Gi l vc t t trng nh ca i tng c nh ngha trong khng gian nh 2 chiu (2D) c 2n chiu tng ng n c trng c chn v d l s thay i vi phn ca c trng nh khi v tr v hng ca camera thc hin mt dch chuyn vi phn d Xc, mt ma trn c Weiss a ra ( tham kho thm ti liu [1] ) gi l ma trn Jacobian ca c trng nh m t mi quan h gia cc i lng ny nh sau: # = Jfeature X ' (3) th hin s bin thin ca c trng nh theo cc bin trong ca robot 0 = OO2..0m]T ta c cng thc sau: d = Jfeature Jrobot d 0 (4) y Jrobot l ma trn Jacobian ca robot ta k hiu J(,0) = Jfeature Jrobot . Trong bi ton iu khin robot bng hnh nh (visual servoing) ma trn J(,0) c th c xc nh bng nhiu phng php khc nhau tham kho thm trong ti liu [2], trong m hnh iu khin c trnh by trong bi bo ny, i vi tng cu hnh ca robot v camera c th th ma trn J(,0) s c xc inh bng phng php gii tch. Gi thit rng ta xc nh c ma trn J(,0) v ma trn khng b suy bin ( hng) vi mt i tng khng chuyn ng. Trong trng hp c trng nh ca

V MT PHNG PHP IU KHIEN h CAMERA-ROBOT BM MC TIU s DNG MNG N RON................................1 1.GII THIU M HNH H THNG l KHIEN r BT s DNG CAMERA................................................1 2.s DNG MNG N-RGN TRONG IU KHIEN h RGBGT-CAMERA BM MC TIU..........................................4 4. Kt lun.........................................9 Ti liu tham kho..................................9
vi:
f=

def

"0" - H -lh

"0
,

-1

(9)

Lu chng ta c th o c 0,0 cng nh tnh c t vic phn tch nh thu nhn c.

Nhm p dng k tht tuyn tnh ha tn hiu phn hi vo m hnh h thng trn ta thc hin php ly o hm bc nht v bc hai ca u ra z nhn c kt qu nh sau: z = GJ0 (10) n gin t = J0 z=G
d ef &

d d ~d_

"e"
H -\-h + T)

= G de + GJH-\-h + T) de

(11)

Vit li phng trnh (11) theo dng z = L + ET pz + Y = T (12) (13)

Hoc

theo

dng:

Trong L = G^e - GJH-lh v E = GJHde p = H (GJ)-1 v Y = - H (GJ)-1 e + h (15) de (14)

3. Thit k h thng iu khin s dng mang n ron

iu khin robot bng phng php tnh m men c ng dng rng ri, trong cc h thng iu khin i hi cc thng s ca h ng hc cn c xc nh chnh xc, trong cc trng hp m cc thng s ca h thng xc nh c khng m bo chnh xc cn thit (hu ht cc h thng trong thc t u ri vo trng hp ny) th phng php trn t ra thiu tnh hiu qu. Trong bo co a ra mt s iu khin trong mng n ron c a vo h iu khin nhm gim nh hng xu ca vic xc nh khng chnh xc cc thng s ng hc ca h thng v s mo ca nh trong qu trnh thu ca camera. Trong nhng nm gn y, nhiu nghin cu trn th gii c tin hnh xung quanh vn ny. Chng ti la chn nhng kt qu c Seul Jung and T.C Hsia cng b trong ti liu [6], [7], [8] p dng vo m hnh iu khin ca mnh. S h thng iu khin c pht trin c ng dng mng n ron cho trong hnh 4.

X.
Mng Nron

_ z(t - 2 ) .z(t - 1 )
. z (t)

<+>
+n

z(t)

Kp

Tay my gn Camera

+ < (t) J G z (t) Kd

Hnh 4. S h thng iu khin tay my gn camera c s dng mng n ron.

Nh trnh by trn, cc vc t z c s dng thay th cho tn hiu phn hi ca c trng nh. c th tnh c m men T trong s hnh 4 cc i lng , Y c xc nh theo cng thc (15). Tuy nhin trong qu trnh tnh ton , Y theo cng thc (15) phi s dng cc gi tr gn ng H(0) v h(Q,Q) thay th cho H ( 0 ) v h(0,0) do vy cng s ch nhn c cc gi tr gn ng , Y (A = - v Ay = Y - Y) ca , Y. S h thng iu khin c m t trong hnh 4 vi tn hiu iu khin c xc nh nh sau:

V MT PHNG PHP IU KHIEN h CAMERA-ROBOT BM MC TIU s DNG MNG N RON................................1 1.GII THIU M HNH H THNG l KHIEN r BT s DNG CAMERA................................................1 2.s DNG MNG N-RGN TRONG IU KHIEN h RGBGT-CAMERA BM MC TIU..........................................4 4. Kt lun.........................................9 Ti liu tham kho..................................9
ng nht cc phng trnh (18) v (19) (-K z - K Z ) + Y = ( -A)Z - A + Az + A = ( z + K Z + K p z ) Rt ra c phng trnh c trng ca h kn nh sau: V = ( z + K z + K p z ) = (Az + A ) (20) Trong trng hp xc nh c chnh xc cc tham s ca h thng ngha l A = 0 v z + Kz + K pz = 0 (21)

A = 0

Nh vy s m bo cho h thng n inh ti im (z, z) = (0 ,0 ) hoc = d thng qua vic la chn cc ma trn h s K d , K . Nh trnh by trn mng n ron c a vo b cho nhng tham s ca h thng xc inh khng chnh xc. Mng n ron s dng l mng truyn thng (feedforwork neural network) c cu trc hai lp, lp n (hidden layer) v lp u ra (output layer) vi u vo l 3 vect z ti cc thi im z(t), z (t-1. A T), z (t-2. A T) v chu k tr (delay-time step A T) l chu k ly mu ca thng tin nh hi tip. Cc n-ron lp n c hm kch hot l sigmoid (sigmoid activated function). u ra ca mng = [2...m ]T c s n ron tng ng s khp ni ca robot v hm kch hot l tuyn tnh. Sau khi b xung mng n ron th m men ti cc khp ni c tnh nh sau: Tnew (t) = () ( + ) + ( 0 , 0 ) (22) thc hin cc bc bin i nh trong (18), (19), (20) v (21) nhn c sai s ca vng kn l: V = z + K z + K P z = 1( A 0 + A ) - (23) Mc ch ca vic b xung mng n ron l nhm gim sai s vv khng. Do vy V c xem nh l chnh sai s ca u ra mng n ron v c s dng hun luyn mng. Gi tr l tng ca l ti V = 0 v l: = -1( A 0 + A ). chng minh cho nhn xt trn, qu trnh hun luyn mng l nhm ti thiu ha hm sai s V , t hm mc tiu E E = 1 vTv (24) 2 Ly o hm ca hm s E theo cc trng ( w ) ca mng ta c: dE dvT dT = v = -^ v (25) w w w v thc t theo (23) th ^1 = -. Thut hc lan truyn ngc (back-propagation) c s

dw dw dng cp nht cc gi tr trng mi, thut hc c ci tin bng vic b xung thm mt thnh phn gi l momentum c dn ra trong cng thc (26). Aw(t) = -n v + aAw(t -1) (26) dw Vi n l tc cp nht trng v a l h s ca thnh phn momentum. 4. Kt lun Nhng nghin cu cho thy vic p dng phng php tnh m men trong iu khin robot c s dng trc tip cc thng tin nh phn hi l thc hin c v c ngha thc t. Vic a thm mng n ron nh l mt yu t thch nghi nhm b nhng sai lch do vic khng xc nh c chnh xc cc tham s ca h thng l hon ton ph hp. Cc chng trnh m phng trn MATLAB c tin hnh vi camera gng trn tay my hai bc t do (2 DOF) c cc thm s ng lc hc c xc nh gn ng trong khong 80% gi tr danh nh v i tng quan st c t trn mt mt phng trc giao vi trc quang hc ca camera. Cc kt qu nhn c cho thy kh nng ng dng cc phng php tuyn tnh ho tn hiu nh phn hi ni trn v tc dng ca mng n ron c b xung vo h thng iu khin. Ti liu tham kho [1] . A. C. Sanderson, L. E. Weiss, and C. P. Neuman. Dynamic sensor-based control of robots with visual feedback, IEEE Trans.Robot.Autom, vol. RA-3, pp.404-417, Oct. 1987. [2] . Seth Hutchinson, gregory D. Hager, and Peter I. Corke. A Tutorial on Visual Servo Control, IEEE Transactions on Robotics and Automation, 12(5) October 1996. [3] . Martin Jgersand and Randal Nelson. On-line Estimation of Visual-Motor Models using Active Vision, In Proc. ARPA Image Understanding Workshop 96,1996. [4] . Koichi Hashimoto and Hidenori Kimura. LQ Optimal and Nonlinear Approaches to Visual servoing [5] . K. Hashimoto, T. Ebine, and H. Kimura. Visual Servoing with Hand-Eye Manipulato Optimal Control Approach, IEEE Trans. Robot. Autom. 1996 [6] . Seul Jung and T.C Hsia, A Study on Neural Network Control of Robot Manipulators [7] . Seul Jung and T.C Hsia, On-line Neural Network Control of Robot Manipulators, International Conference on Neural Information Processing, vol. 3, 1663-1668, 1994. [8] . Seul Jung and T.C Hsia. A New Neural Network Control Technique for Robot Manipulator, Robotica, vol.13, pp 477-484,1995 [9] . Bi Trng Tuyn and Phm Thng Ct. Pose-estimation of object in 3D virtual space using an image received by camera applying to Robot-visual Servo Control, Journal of Science and Technique, Military Technical Academy of Vietnam, pp 31-42, No. 97 (IV2001). [10]. Somlo - B.Lantos - P.T.Cat. Advanced Robot Control, Akadmia Kiad, Budapest, 1997.