视觉引导下机器人任意轨迹跟踪试验研究

Experiments of a Vision Guided Trajectory Tracking System of Robot

建立一种实用的视觉引导下的工业机器人对一般形状、任意轨迹运动物体的跟踪系统.视觉系统采用合作目标识别的方法从图像中提取出目标物体,基于直接线性变换方法实时计算得到运动物体的位置信息.利用机器人关节空间的路径规划和路径修正命令实现对物体跟踪.

This paper sets up a vision guided industrial robot tracking system that can track a common shape and moving object in arbitrary trajectory. Vision system can pick - up the target object from the image using the cooperative object method and compute the real time object position based the method of direct linear transformation. With the trajectory plan in joint space, robot can track the moving object by the real - time path modification command.