通用型“手-眼”式多关节机器人视觉系统物像关系的研究

SOME STUDIES OF THE RELATIONS BETWEEN OBJECT AND IMAGE IN THE VISION SYSTEM OF A GENERAL MULTI-JOINT "HAND-EYE" ROBOT

摘要: 本文着重研究了“手-眼”式通用型多关节机器人视觉系统中基体坐标系．物体坐标系和图象坐标系之间的关系．利用空间坐标系的投影变换和映射等方法，推导了“手-眼”式机器人系统中摄象机图象点和空间点对应的数学关系式．同时对固定式也进行了探讨．本文以多关节机器人视觉系统的实际情况为基础，在实际的机器人坐标系上导出了一个简便实用的算法，可以通过对摄象机摄取的图象中的点的坐标运算，求出其对应的空间点在机器人基体坐标中的坐标，因而能迅速准确地引导机器人根据视觉图象正确地运行到所求的空间点的位置．
- 机器人 /
- 机器人视觉 /
- 焊接
Abstract: This paper studies in particular the relationships between the following three CS(coordinates systems) in a vi-sion system of a general multi-joint"hand-eye" robot: (1) CS of the base; (2) CS of the object; (3) CS of the image.By utilizing the projection transformation and mapping etc. as mediums, we derived out some mathematical rela-tions between the camera image point and corresponding space point in a "hand-eye" robot system. Meanwhileabout fixed type some explorations have also been made. A simple and practical algorithm has been derived out for acurrately and quickly leading the robot to properpoint in space.
- robot /
- robot vision /
- weld