| 引用本文: | 蒋平,胡凤轩,陈辉堂,王月娟.机器人手眼协调的图象直接反馈方法*[J].控制理论与应用,1997,14(5):648~653.[点击复制] |
| JIANG Ping，HU Fengxuan，CHEN Huitang and WANG Yuejuan.Robot Hand-Eye Coordination with Direct Image Feedback[J].Control Theory and Technology,1997,14(5):648~653.[点击复制] |
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| 机器人手眼协调的图象直接反馈方法* |
| Robot Hand-Eye Coordination with Direct Image Feedback |
| 摘要点击 1483 全文点击 639 投稿时间：1996-01-03 修订日期：1996-09-26 |
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| DOI编号 |
| 1997,14(5):648-653 |
| 中文关键词 机器人视觉 伺服 手眼协调 反馈 |
| 英文关键词 robot vision servo hand-eye coordination feedback |
| 基金项目 |
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| 中文摘要 |
| 本文从视觉与控制集成观点出发，提出了一种机械人手眼协调的新方法，利用手部摄像机于期望抓取（操作）位置获取待抓（加工）物体图象，以此作为期望图象，而后可以对任意位置的同类物体进行实时抓取.首先将期望图象与实时采样图象进行比较生成差图象，从而依据差图象进行实时伺服反馈，最终达到消除图象差的目的. |
| 英文摘要 |
| This paper analyzes robot hand-eye coordination from the view point of integration of vision and control. The new scheme of image direct feedback control is proposed. The manipulating process is as follows: first of all, move the arm to the desired manipulating position and orientation with respect to the object of interest and sample the image of the object by eye-in-hand camera. This is referred to desired image.In the manipulating process, the scheme, which compares the real time sampled. Image with the desired one,forms the error image. With this 2-D error image, The control action steers the gripper to move until the image error is eliminated. |
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