航天机器人手眼视觉模拟系统初步设计

Primary design of hand-eye vision simulation system of space robots

介绍了国外航天机器人手眼视觉系统的构成及原理,给出了在地面模拟实验系统中基于PC机和图像采集卡的机器人手眼视觉系统的初步设计方案,包括硬件设计和软件设计等;对手眼视觉系统中的一些关键技术进行了初步的研究,包括摄像机标定及3D目标物体的位置和姿态测量。实验表明,上述算法满足机器人手眼视觉测量要求,为以后的实际应用打下了基础。

The configuration of the hand-eye vision system in the foreign space robots is introduced,and a primary design of the robotic hand-eye vision system based on a PC and the image acquisition card in the ground simulation experimental system is presented,including hardware and software design. Some key techniques are studied including camera calibration and 3-D object position and orientation measurement. The experimental results show that the presented methods can meet the demands of robot hand-eye vision system. This study lays a basis for robotic applications.