绝缘子水冲洗机器人视觉伺服仿真

Insulator Water Washing Robot Visual Servo Simulation

视觉伺服研究是绝缘子水冲洗机器人研究的重要内容,其研究成果用于机器人自动瞄准绝缘子。水冲洗机器人采用基于图像的视觉伺服控制方案,对冲洗机器人的图像雅克比矩阵进行计算,设计基于机器人位置参数和绝缘子高度信息获取图像深度的方法,最后基于Robotics Tool-box和Visual Servoing Toolbox工具箱对冲洗机器人视觉控制方案进行建模、仿真,结果表明,基于图像的机器人视觉伺服系统能够实现对绝缘子瞄准功能。

Visual servoing research is an important content of insulator water washing robotics re- search, and the research results can be used for robot automatic aiming insulator. Image based visual ser- vo control scheme is used on the water washing robot, and the flushing image jacobian matrix of the robot is calculated. The calculation of the image depth is based on the robot location parameters and the height information of insulator. The visual control system of washing robot is modeled and simulated based on Robotics Toolbox and Visual Servoing Toolbox, the results show that the robotic Visual servo system based on image could aim insulator automatically.