论文部分内容阅读
机器视觉对机器人克服工作环境中的不确定性具有重要意义。针对空间遥操作机器人面对的是危险不确定环境 ,文中提出一种基于手眼视觉的测量与定位方法 ,可为判断未知目标物体是否可抓持以及进行抓持规划提供有效依据。在重复定位的任务中 ,该方法可以利用目标物体的先验信息快速定位从而避免频繁移动手臂。文章首先给出了该方法的原理 ,然后通过实验实现了此方法 ,并对误差进行了分析 ,实验结果表明了该方法具有较高的精度。
Machine vision is important for robots to overcome the uncertainty in their work environment. In view of the dangerous and uncertain environment faced by space telecontrol robots, a hand-eye vision based measurement and localization method is proposed in this paper, which can provide an effective basis for judging whether an unknown object can be grasped or not. In the task of repeated positioning, this method can use the prior information of the target object to locate quickly so as to avoid frequent movement of the arm. The article first gives the principle of the method, and then implements the method through experiment. And the error is analyzed. The experimental results show that the method has high accuracy.