基于机器视觉的关节机器人的研究  

Study on the Articulated Robot Based on Machine Vision

作　　者：张凯良[1] 杨丽[1] 张铁中[1] 

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《农机化研究》2010年第1期89-91,95,共4页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(60375036)

摘　　要：果蔬采摘机器人的研发在一些作业领域已十分迫切,而机器视觉技术和关节型机器人机构在果蔬采摘领域又有着很大的应用价值。为此,从机械结构、视觉系统和运动控制方法3个方面对基于机器视觉的关节机器人进行了研究。实验证明,当目标距离在5～20cm范围,该机器人末端定位误差小于1cm。Nowadays the research and development of fruit and vegetable -picking robot is exigent. Meanwhile, technologies of machine vision and articulated robot are preponderant in the realm of fruit and vegetable - picking, and some researches about articulated robot based on machine vision technology have been carried in this paper. The research can be divided into three sections： research of mechanical structure, research of machine vision, research of motion control method. Experimental result shows that the maximum positional error of the robot is 1 cm, if the object distance is set between 5 - 20cm.

关 键 词：采摘 关节机器人 机器视觉 PC控制 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]