基于单目视觉的机器人逆运动学分析  

The analyse of robot kinematics based on monocular vision

作　　者：黎文安[1] 邱从明[1] 

机构地区：[1]武汉大学电气工程学院,武汉430072

出　　处：《微计算机信息》2008年第29期219-221,共3页Control & Automation

基　　金：国家自然科学基金项目名称:多端口归一化模拟单元电路导出与实现方法研究(50577046)

摘　　要：本文介绍了一种通过单目视觉测量,实现机器人的自主定位的数学方法。利用运动学建模确立了目标从图像到实际工作空间的映射关系,得到目标的实际位置和姿态,并利用三点法对KLD-600机器人进行逆运动学求解。实验表明,该方法操作简单,计算准确,运算速度快。This paper introduces a method through the measurement by monocular vision which is used in the self-localization by mathematic method. By means of kinematics modeling, the relationship between image and real working space is built, then the absolute position and attitude of the object are obtained. It uses the three points method to deal with the inverse kinematics of robot KDL-600.The method is experimentally verified which is simple operation, accurate calculation and fast operation speed.

关 键 词：机器视觉 自主定位 逆运动学 机器人 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]