基于HALCON的机械手视觉抓取应用研究  

Application research of vision crawling robot based on HALCON software

作　　者：卢泉奇 苗同升 汪地[1] 杨浩[1] 宗殿栋 

机构地区：[1]上海大学上海市智能制造及机器人重点实验室,上海200072

出　　处：《光学仪器》2014年第6期492-498,共7页Optical Instruments

摘　　要：介绍一种特定的抓取式机械手的机械结构,利用HALCON图像处理软件中单目视觉ETH(Eye-to-Hand)系统手眼标定函数对机械手与摄像机系统进行手眼标定实验。利用获得的标定数据进行HALCON的图像处理,并将图像处理程序整合进VS2010平台与其它软件联合完成机械手视觉抓取系统的二次开发。最后用机械手视觉抓取实验来验证研究结果。A crawling robot with a specific mechanical structure is introduced in this paper. The experimental procedure of hand-eye calibration based on image processing software HALCON is described with full understanding of HALCON hand-eye calibration function in the ETH （Eye-to-Hand） system. Then the paper presents how to process the image with the calibration data in the HALCON and how to complete secondary development combined with other software in the VS2010 software platform.

关 键 词：HALCON 机器视觉 手眼标定 图像处理 

分 类 号：TH74[机械工程—光学工程]