基于视觉伺服的机器人系统开发

Proceedings Third Russian-Korean International Symposium on Science and Technology. KORUS'99 (Cat. No.99EX362) Pub Date : 1999-06-22 DOI:10.1109/KORUS.1999.876261

Hee-Jun Kang

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引用次数: 1

摘要

本文致力于基于视觉伺服的机器人系统的开发。目标是通过安装在机械手上的单个摄像机来控制机器人抓取器与物体之间的相对位置和方向。采用基于特征的视觉伺服控制算法，利用图像平面的微分变化，不断更新机器人相对于物体的姿态。整个系统由安川SK6机械手、PC控制器、F/64-PCI帧采集器组成。基于PC的控制器包括PMAC2运动控制板、四路放大器和win95操作系统环境。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of visual servo based robotic system

This paper works toward the development of visual servo based robotic system. The objective is to control the relative position and orientation between a robot's gripper and an object using a single camera mounted on the manipulator. The feature-based visual servoing control algorithm is used, which continually updates the pose of the robot relative to the object by using the differential changes in image plane. The total system consists of Yasukawa SK6 manipulator, PC based controller, F/64-PCI frame grabber. The PC based controller includes PMAC2 motion control board, Quad amplifier and Win 95 OS environment.

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Proceedings Third Russian-Korean International Symposium on Science and Technology. KORUS'99 (Cat. No.99EX362)

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