机器人手眼协调的图象直接反馈方法

Robot Hand-Eye Coordination with Direct Image Feedback

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，以此作为期望国象，而后可以对任意位置的同类物体进行实时抓取，首先将期望日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同服反馈，最终达到消除图象差的目的。

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 ob-ject 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 im-age error is eliminated.