混合摄像机视觉伺服机器人研究与应用  

Research and application of hybrid cameras visual servo robot

作　　者：陈丹[1] 石国良[1] 

机构地区：[1]福州大学电气工程与自动化学院,福建福州350108

出　　处：《传感器与微系统》2016年第7期154-157,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金青年科学基金资助项目(61304260);福建省自然科学基金资助项目(2013J01226)

摘　　要：针对单目视觉机器人工件抓取与放置精度不高的问题,提出了基于位置的混合摄像机视觉伺服系统,采用Eye-in-hand和Eye-to-hand摄像机结合的模式,建立混合摄像机视觉机器人系统以实现工件的精确放置。Eye-in-hand摄像机实现对工件的定位和抓取,Eye-to-hand摄像机用于确定机械手爪中心轴线与工件中线的偏差,确保工件精确放置在期望位置。实验结果表明:该混合摄像机视觉伺服机器人系统能将工件准确放置在期望位置。Aiming at problem of low precision of workpieces grasping and placing of monocular vision robot,propose hybrid cameras visual servo system based on position,mode combining Eye-in-hand and Eye-to-hand camera is used,establish hybrid cameras visual robot system to realize accurate placement of workpiece. Eye-inhand camera is used to realize workpiece orientation and grasping. Eye-to-hand camera is used to evaluates pixel coordinates difference of center line between mechanical gripper and workpiece to ensure that the workpiece is placed in precise desire location. Experimental results show that this hybrid cameras visual servo robot can place workpiece in specified coordinates accurately.

关 键 词：机器人 视觉伺服 中线提取 精确放置 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]