工业机器人运动车体位姿计算方法研究

Research on Calculation of Industrial Robot Moving Position and Posture

介绍了工业机器人视觉导航中的运动车体位姿的计算方法 ,论述了车体坐标系和摄像机坐标系之间的变化关系 ,推导出了车体坐标系和摄像机坐标系之间的变换矩阵 ,并进行了实验 .通过实验确定了实验方案中的目标物体的位置和摄像机的运动参数 ,为实验中所使用的轮式移动机器人的运动导航打下了基础 .确定了工业机器人小车相对于目标的位姿 。

The methodology for calculation of industrial robot moving position and posture during its visual navigation and motion is presented,the relations of car and camera coordinates are discussed, and the transform matrix between two coordinate systems is derived. An example is given in this paper,which may guide users to get moving parameters of industrial robot.It is very important that the robot moving position and posture are calculated first for its smooth visual navigation.