机器人视觉伺服系统的研究与发展  

Research and development on robotic visual servo system

作　　者：钟金明[1] 徐刚[1] 张海波[2] 

机构地区：[1]深圳市南山区深圳大学工程技术学院,实验楼p204518060 [2]南京航空航天大学能源与动力工程学院,210016

出　　处：《现代制造工程》2005年第8期7-10,共4页Modern Manufacturing Engineering

基　　金：国家自然科学基金项目(60175026)

摘　　要：论述机器人视觉伺服的发展历史、方向和研究背景,系统介绍了机器人视觉伺服系统的基本分类,重点介绍三种现有的控制结构、动态LookandMove系统、视觉直接伺服系统以及实现视觉伺服系统各个环节的主要问题。对智能控制在机器人视觉伺服系统中的应用作了介绍,并对控制系统实时性进行分析。展望今后的发展方向。The history and current research of robot visual servo are reviewed. Some main categories are introduced in robot visual servo systems from different point of view. The three popular control structures of robot visual servo systems are stressed, at the same time dynamic Look and Move system ＆ direct visual servo system are also explained, and the difficulties to design a robot visual servo system are discussed. The application of intelligence control in vision - based robot system is introduced. The dynamic effects in control systems are discussed. Finally, the developing tendency is also discussed.

关 键 词：机器人 视觉伺服 视觉控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]