双目视觉机器人物体搬运伺服控制系统研究

Research on the Robotic Servo Control Systems with Double Vision for Target Object Moving

机器人视觉伺服系统的研究在机器人研究领域中起着重要作用,其研究结果的运用能使机器人更加智能化。文章以固高GRB-400机器人在双目视觉系统的条件下,基于位置的视觉伺服方法,研究了手爪如何精确定位物体和确定抓取物体的深度并确定目标姿态的方法。实验证明该方法能够实现机器人对物体的精确定位、抓取和搬运。

A robotic visual servo system play an important role in the field on roboticresearch. Applying the results from robotic vision control can make robot more intelligent. In this paper, the problems how to accurately localize and to determine the target depth,and how to define the target orientation are studied with the double vision GBR- 400 robot in terms of the position-based visual servo. Finally, the experiment results show that the robot visual servo system can implement to accurate locatization and grasp as well as carriage to the target object by using the presented methods.