摘要
以四自由度GRB-400工业机器人为研究对象,采用CORECO图像采集系统,构建了基于图像的视觉伺服控制系统。建立了机器人视觉伺服系统的数学模型,推导了GRB-400机器人系统图像雅克比矩阵。应用Matlab和Simulink,对GRB-400机器人图像视觉伺服系统进行仿真实验。结果表明,本文构建的机器人视觉伺服系统对静态目标定位、对直线运动目标及曲线运动目标进行跟踪,可以达到较快的响应和较高的精度。
An introduction was provided for the image-based visual servo system of four-dof GRB-400 robotic combined with CORECO fast image acquisition and processing system.The robot visual servo control system mathematics model was built.The Image Jacobin Matrix for GRB-400 robot was established.The Matlab functions for the robot control and the Simulink models of the robot were integrated.The Simulink scheme for GRB-400 industrial robot visual servo system was built.The results of experiment show that for locating and tracking various types of motions,the performances of the system are good.
出处
《机床与液压》
北大核心
2005年第6期4-6,共3页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(编号:60175026)
