机械手实时视觉伺服控制系统的研究

A Real Time Visual Servo Control Scheme for Robotic Manipulators

由于计算机图象处理的速度比较慢，影响了机器人视觉系统的应用。提出了机械手的实时视觉伺服控制系统。设计了一种实时图象处理器，以有效和迅速辨识出机械手的手爪和目标物体，并且使图象处理、控制和运动规划并行处理，以保证实现实时的视觉伺服控制。实验表明，本系统具有良好的瞬态和稳态特性。

Due to the low speed in computer image processing, the application of visual servo control for robotic manipulators is limited. In this paper, a real time visual servo control system for robotic manipulators is presented. A real time image processor is designed. Some measures are taken to identify the gripper and target effectively and rapidly. The parallel real time implementation of image processing and control and planning of movement assure the real time visual servo control. Experimental results show that the system has good transient and steady state natures.