聂小春, 徐文立, 石宗英. 一种主动视觉插轴入孔方法[J]. 机器人, 1996, 18(2): 72-77.
引用本文: 聂小春, 徐文立, 石宗英. 一种主动视觉插轴入孔方法[J]. 机器人, 1996, 18(2): 72-77.
NIE Xiaochun, XU Wenli, SHI Zhongying. AN ACTIVE VISION STRATEGY FOR PEG-IN-HOLE TASK[J]. ROBOT, 1996, 18(2): 72-77.
Citation: NIE Xiaochun, XU Wenli, SHI Zhongying. AN ACTIVE VISION STRATEGY FOR PEG-IN-HOLE TASK[J]. ROBOT, 1996, 18(2): 72-77.

一种主动视觉插轴入孔方法

AN ACTIVE VISION STRATEGY FOR PEG-IN-HOLE TASK

  • 摘要: 本文提出了一个利用主动视觉实现空间任意斜面插轴入孔的方法,其相关算法包括主动视觉空间圆定位算法、主动视觉空间直线定位算法以及通过一个特征点估计相机姿态参数算法.通过建立以注视点为中心的相对坐标系,对零件之间的相对关系进行量测,其量测精度对于系统中诸如相机的绝对定位误差、机器人的绝对定位误差不敏感.用实际机器人系统进行实验的结果证明了该方法的有效性.该方法的思想可以扩展到其他形式的装配作业.

     

    Abstract: This paper addresses the peg-in-hole problem, and presents an active vision strategy which includes three relative algorithms: (1)3D location estimation of circular feature by active vision;(2)3D location estimation of straight line by active vision;(3)camera pose estimation using one feature point. By setting up an object-centered coordinate, the relative position between robot hand and the object can be measured precisely even in the presence of intensive uncertainties of cameras and robot. Experimental result on a real robot system shows that this method is valid. This method can be extended to other forms of robot operations.

     

/

返回文章
返回