| 手-眼视觉动态目标定位方法研究 |
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| 引用本文： | 焦圣喜,岳晓峰,王平凯.手-眼视觉动态目标定位方法研究[J].光学技术,2008,34(5). |
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| 作者姓名： | 焦圣喜 岳晓峰 王平凯 |
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| 摘 要： | 提出了一种机器人手-眼视觉分步动态目标定位方法,实验中保持摄像机图像平面与工作台平面平行,通过摄像机在不同高度对工作台上目标的分步拍摄并获取目标位置信息,将目标定位的三维关系简化为二维关系处理。在摄像机对目标定位的过程中,目标位置信息被不断修正,最终将目标定位在图像的中心位置,进而引导末端执行器完成对目标的准确抓取。实验结果显示该手-眼视觉分步动态目标定位方法定位准确、可靠性高。
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| 关 键 词： | 手-眼视觉 目标定位 末端执行器 |
Research of dynamic object positioning method of eye-in-hand vision |
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| JIAO Sheng-xi,YUE Xiao-feng,WANG Ping-kai.Research of dynamic object positioning method of eye-in-hand vision[J].Optical Technique,2008,34(5). |
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| Authors: | JIAO Sheng-xi YUE Xiao-feng WANG Ping-kai |
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| Abstract: | A step dynamic object positioning method of robot eye-in-hand vision is proposed.An experimental platform is developed in which the CCD plane is in parallel with worktable plane.Images acquired by camera at several fixed positions are analyzed and target position infromation is obtained,the 3-D relations of the target positions are simplified to 2-D.During the calibration,the target position information is verified constantly.Target center position calculated is used to control the end-executor to pick up the target accurately.The experiment results show that the step dynamic object positioning method of robot eye-in-hand vision is highly accurate and reliable. |
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| Keywords: | eye-in-hand vision object positioning end-executor |
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