王守杰, 宗光华, 毕树生. 微操作机器人显微视觉系统的研究[J]. 机器人, 1998, 20(2): 138-142.
引用本文: 王守杰, 宗光华, 毕树生. 微操作机器人显微视觉系统的研究[J]. 机器人, 1998, 20(2): 138-142.
WANG Shoujie, ZONG Guanghua, BI Shusheng. DEVELOPMENT OF MICRO VISION FOR MICROMANIPULATION[J]. ROBOT, 1998, 20(2): 138-142.
Citation: WANG Shoujie, ZONG Guanghua, BI Shusheng. DEVELOPMENT OF MICRO VISION FOR MICROMANIPULATION[J]. ROBOT, 1998, 20(2): 138-142.

微操作机器人显微视觉系统的研究

DEVELOPMENT OF MICRO VISION FOR MICROMANIPULATION

  • 摘要: 本文深入研究了基于生物工程领域显微视觉系统的设计方法.给出了微操作物体平面坐标及微机器人手端位姿的求取方法;提出了基于载物台平动测量微操作物体的高度及微机器人做三维空间已知运动标定出微机器人手端在摄像机坐标系的坐标,进而确定微机器人手端与微操作物体之间位置关系的单目视觉方案.采用两步法对显微视觉系统进行了标定.实验证明该系统运行可靠,达到显微操作的要求.

     

    Abstract: This paper studies the design method of micro vision for the bioengineering field, and presents some approaches to determine the plane coordinates of the micro object and the pose of the micromanipulator end effector by the image and its characteristics. A monocular vision scheme is put forward, which determines the position of the micro object by moving the microstat to a known distance and determines the position of the micromanipulator end effector in the camera coordinate system by moving it in a three dimension space. Then the relatively position between the end effector and the micro object is determined. A two step method is used to calibrate the micro vision system. The results show that those methods are feasible to micro vision and micro calibration.

     

/

返回文章
返回