并联机器人双目主动视觉目标定位的研究

Space target positioning based on binocular active vision system of parallel robot

为解决并联机器人"盲"工作状态,提高并联机器人的运动精度,构建了一种对并联机器人工作空间监测的双目主动视觉监测平台,并在双目主动视觉监测平台上给出了一种视觉空间目标定位算法。该算法分别研究了两个摄像机光轴在同一平面和不同平面时的空间目标定位问题。

To avoid blind working state for parallel robot and to improve its motion precision,a new platform called Binocular Active Vision（BAV） system was proposed,which was designed to monitor the space target position of the parallel robot at work.Based on this platform,an algorithm of space target positioning was presented.By this algorithm,space positions could be worked out whether the optical axes of two cameras were coplanar or not.