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针对工业生产中应用广泛的 3个相邻关节轴交于一点的机器人手腕 ,把计算机视觉和机器人相结合 ,运用图像处理的方法来确定手腕的姿态误差 ,给出了具体的算法公式。还借助于文献 [1 0 ]的基于 2 -范数的刚体转动误差测度来评价机构性能的优劣。最后还给出实验结果证明了此法的正确性。
Aimed at the wrist of a robot which is widely used in industrial production and has three adjacent axes of articulation, the computer vision and the robot are combined. The image processing method is used to determine the attitude error of the wrist and a specific algorithm formula is given. The merits of mechanism performance were also evaluated with the help of the 2-norm rotational error measure of literature [10]. Finally, the experimental results are given to prove the correctness of this method.