摘要
分析了基于恒定旋转矩阵的机器人视觉立体定位方法原理,提出利用机器人控制命令参数直接获取恒定旋矩阵的方法,该方法大大简化了摄像机内外参数的标定过程。设计了MOTOMAN-SV3XL机器人手眼视觉控制系统,制了相应的控制软件,进行了大量的实验研究,并取得了良好的效果。
The principle for robot vision positioning based on the constant rotation matrix which maps end-effector co-ordinate to robot coordinate is analyzed.A method using the robot control commands to directly obtain the constant ro-tation matrix is given.This method simplifies the algorithm and process of the calibration for the camera internal and external parameters.The eye-in-hand vision control system of MOTOMAN-SV3XL robot is setup and the control soft-ware is given.At last,lots of experimental examples are performed with satisfying results.
出处
《计算机工程与应用》
CSCD
北大核心
2003年第22期38-41,共4页
Computer Engineering and Applications
基金
陕西省自然科学基金项目(编号:2002F27)