邹瑞雨, 王大培, 李全益. 一个简单的机器人视觉引导装配实验系统[J]. 机器人, 1989, 11(1): 17-23.
引用本文: 邹瑞雨, 王大培, 李全益. 一个简单的机器人视觉引导装配实验系统[J]. 机器人, 1989, 11(1): 17-23.
ZHOU Ruiyu, WANG Dapei, LI Quanyi. A SIMPLE EXPERIMEHT SYSTEM OF ROBOT VISION GUIDANCE FOR ASSEMBLY[J]. ROBOT, 1989, 11(1): 17-23.
Citation: ZHOU Ruiyu, WANG Dapei, LI Quanyi. A SIMPLE EXPERIMEHT SYSTEM OF ROBOT VISION GUIDANCE FOR ASSEMBLY[J]. ROBOT, 1989, 11(1): 17-23.

一个简单的机器人视觉引导装配实验系统

A SIMPLE EXPERIMEHT SYSTEM OF ROBOT VISION GUIDANCE FOR ASSEMBLY

  • 摘要: 本文对视觉控制下的一个简单实验室装配系统作了介绍,讨论了系统组成、机器人控制、二维图象特征的提取、对物体自动识别、定位定向、系统标定、实现垒积木装配工作.本实验系统用的是我所研制的国内第一台示教再现机器人.

     

    Abstract: Vision is playing an important part in robot system.It can not be lacked for second generation robotsand intelligent robots.When the working environment is changed,the robot can adapt the environment toit.A flexible assembly automation is a typical with vision sensor.This paper discussed an experimental system and some fundamentals of visual control including robotcontrol,image acquirement,2-D feature extraction,system calibration and the system structure,as well asrecognition,location and orientation of parts.Finally,assembly was realized.

     

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