机器人视觉伺服控制半物理仿真系统的研制  

Development of Semi-physical Simulation System for Vision Servo Control of Robot

作　　者：张瀚[1] 徐科军[1] 赵明[1] 高学海[1] 刘晓丽[1] 

机构地区：[1]合肥工业大学自动化研究所

出　　处：《系统仿真学报》2008年第1期68-72,共5页Journal of System Simulation

摘　　要：为了模拟机器人在自由运动的工作状态,验证实际物理手眼视觉伺服控制算法的效果,在4台PC机的基础上,用三维图形库OpenGL开发了仿真应用软件,组建了机器人视觉伺服控制半物理仿真系统。该仿真系统利用计算机三维图形学、机器人运动学和动力学、视觉测量以及视觉伺服控制等技术,成功仿真了在空间自由运动状态中,机器人对目标物体的捕获。A semi-physical simulation system was constructed based on PCs, and the application software was developed using 3D graphic library OpenGL to simulate the free-flying work state of the robot and evaluate the efficiency of the actual hand-eye vision servo control algorithm of robot. With the computer graphics, robot kinematics and kinetics, vision measurement and vision servo control technology, the procedure of capturing target by robot was demonstrated successfully in the state of free-flying.

关 键 词：半物理仿真系统 视觉伺服控制 手眼视觉 位姿测量 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]