Matlab图像处理在机械手姿态调整中的应用  

Application of image processing by Matlab in gripper pose adjustment

作　　者：杨同锋[1] 李维[1] 

机构地区：[1]上海大学,上海200072

出　　处：《计算机工程与设计》2006年第20期3938-3939,3946,共3页Computer Engineering and Design

摘　　要：一般机器人视觉控制程序通过高级程序语言(VB、VC等)开发,开发过程存在开发周期长,难度大等缺点。针对这种情况提出利用Matlab和VB联合编程实现视觉控制程序开发的方法。即利用Matlab软件中的工具Matlab Builder for COM将关于图像处理的m文件转换为COM组件,在VB程序中调用COM组件,对获取的工作场景图像进行处理,计算出工件位置,据此调整机械手的姿态。并给出视觉引导的机械手抓取物体实验结果。Program of robot vision control is generally developed with advanced program language （VB, VC etc）, in which disadvantages exist, such as long development cycle, more difficulties. So a new method is presented： Using Matlab Builder for COM in Matlab to convert m file of Matlab into COM component and retrieve them in VB. The pose of gripper is adjusted according to the workpiece position data obtained from program developed by combination of VB and Matlab. Experiments of vision-guided are given.

关 键 词：图像处理 机器人视觉 COM组件 机械手 MATLAB 

分 类 号：TP312[自动化与计算机技术—计算机软件与理论]