机器人手眼协调的图象直接反馈方法*

Robot Hand-Eye Coordination with Direct Image Feedback

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

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.