摘要
设计了一种三关节机器人视觉伺服系统。该系统采用eye-in-hand方式,基于图像特征构成视觉反馈,来完成机器人抓取物体的任务。论文对系统结构、坐标变换、成像原理、视觉控制器进行了详细的设计,并通过仿真试验证明了所设计控制系统的有效性。
A three-joint robotic visual servo system is presented in this paper. Based on eye-in-hand structure, the system can make robot to pick up objects by using image features as visual feedback. Detailed design has been done in system structure, coordinates transformation, imaging principle, and visual controller. Simulation experiments have proved the effectiveness of the presented control system.
出处
《装备制造技术》
2006年第2期12-15,共4页
Equipment Manufacturing Technology
基金
广西工学院青年科学基金项目(院青05010)
