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Task Oriented Optimal Grasp Planning by Three Fingered Robot Hands
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作者 钱瑞明 颜景平 《Journal of Southeast University(English Edition)》 EI CAS 1998年第1期57-63,共7页
This paper presents a way for research on grasp planning of three fingered robot hands. According to the assortment of human hand grasping, two typical grasping poses for three finger grasps are summarized. The task... This paper presents a way for research on grasp planning of three fingered robot hands. According to the assortment of human hand grasping, two typical grasping poses for three finger grasps are summarized. The task requirements, the geometrical and physical features of the object and the information from the environment are synthesized. Grasp pose is deduced by task analysis, and the graspable plane is sought and determined. The process of grasp planning is finally carried out by determining three grasp points on the feasible grasp plane. 展开更多
关键词 multifingered robot hand GRASP PLAN grasp task
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DESIGN OF A NOVEL DEXTEROUS ROBOT HAND 被引量:4
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作者 JiangLi LiuHong +3 位作者 XieZongwu JinMinghe GaoXiaohui HirzingerG 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2004年第3期360-363,共4页
In the robotic community more and more hands are developed. Based on theexperience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand withmultisen-sory function and high integration is... In the robotic community more and more hands are developed. Based on theexperience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand withmultisen-sory function and high integration is jointly developed. The prototype of the hand issuccessfully built. It has 4 fingers in total 13-DOFs (degree of freedom). Each finger has 3-DOFsand 4 joints, the last 2 joints are mechanically coupled by means of four-bar linkage mechanism. Italso has an additional DOF to realize motion of the thumb relative to the palm. The fingertip forcecan reach up to 10 N. Full integration of mechanical body, actuation system, multisensory system andelectronics is a significant feature. DSP based control system is implemented in PCI busarchitecture and the serial communication between the hand and DSP needs only 2 lines. 展开更多
关键词 Dexterous robot hand MULTISENSORY INTEGRATION Serial communication
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FORCE OPTIMIZATION OF GRASPING BY ROBOTIC HANDS 被引量:4
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作者 Li JitingZhang YuruGuo WeidongZhang QixianlRobotics Institute,Beijing University of Aeronauticsand Astronautics,Beijing 100083, China 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2003年第2期128-131,共4页
It is important for robotic hands to obtain optimal grasping performance inthe meanwhile balancing external forces and maintaining grasp stability. The problem of forceoptimization of grasping is solved in the space o... It is important for robotic hands to obtain optimal grasping performance inthe meanwhile balancing external forces and maintaining grasp stability. The problem of forceoptimization of grasping is solved in the space of joint torques. A measure of grasping performanceis presented to protect joint actuators from working in heavy payloads. The joint torques arecalculated for the optimal performance under the frictional constraints and the physical limits ofmotor outputs. By formulating the grasping forces into the explicit function of joint torques, thefrictional constraints imposed on the grasping forces are transformed into the constraints on jointtorques. Without further simplification, the nonlinear frictional constraints can be simply handledin the process of optimization. Two numerical examples demonstrate the simplicity and effectivenessof the approach. 展开更多
关键词 force optimization grasping force robot hand
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HIT anthropomorphic robotic hand and finger motion control 被引量:3
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作者 高晓辉 史士才 +4 位作者 赵大威 姜力 王智洋 蔡鹤皋 刘宏 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2006年第1期48-53,共6页
Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexter... Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot. 展开更多
关键词 anthropomorphic robotic hand under-actuated force sensor
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Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space 被引量:3
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作者 Shang-Ling Qiao Rong-Qiang Liu +2 位作者 Hong-Wei Guo Yu-Xuan Liu Zong-Quan Deng 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2018年第2期45-53,共9页
Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. How... Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are non?cooperative targets. To capture non?cooperative targets in space, a lightweight, less driven under?actuated robotic hand is proposed in this paper, which composed by tendon?pulley transmission and double?stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under?actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under?actuated robotic hand can satisfy the grasp requirements. 展开更多
关键词 Under?actuated robotic hand Tendon?pulley transmission Grasping space Configuration design
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Cartesian impedance control of dexterous robot hand 被引量:2
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作者 姜力 刘宏 蔡鹤皋 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2005年第3期239-244,共6页
Presents a novel compliant motion control for a robot hand using the Cartesian impedance approach based on fingertip force measurements. The fingertip can accurately track desired motion in free space and appear as me... Presents a novel compliant motion control for a robot hand using the Cartesian impedance approach based on fingertip force measurements. The fingertip can accurately track desired motion in free space and appear as mechanical impedance in constrained space. In the position based impedance control strategy, any switching mode in contact transition phase is not needed. The impedance parameters can be adjusted in a certain range according to various tasks. In this paper, the analysis of the finger’s kinematics and dynamics is given. Experimental results have shown the effectiveness of this control strategy. 展开更多
关键词 cartesian impedance control sliding mode control dexterous robot hand
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DSP & FPGA-based control architecture for a highly integrated robot hand with enhanced impedance performance 被引量:1
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作者 吴克 Lan Tian +5 位作者 Chen Yangbin Liu Yiwei Jin Minghe Fan Shaowei Chen Zhaopeng Liu Hong 《High Technology Letters》 EI CAS 2010年第2期178-183,共6页
A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level contro... A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP&FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current (DC) link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation. 展开更多
关键词 impedance control DSP FPGA direct current (DC) link current sensor robot hand control system
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Slip Detection of Robotic Hand Based on Vibration Power of Pressure Center
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作者 Xiao-You Zhang Rong-Qiang Liu 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2013年第3期113-118,共6页
This paper proposes an incipient slip detection method for a robotic hand based on the vibration power of the pressure center. Firstly,an array-type pressure sensor was planted into the soft skin of the robotic hand t... This paper proposes an incipient slip detection method for a robotic hand based on the vibration power of the pressure center. Firstly,an array-type pressure sensor was planted into the soft skin of the robotic hand to measure the stick-slip vibration component of the pressure center generated in the process of slip of the grasped object. Secondly,the vibration power of the pressure center was calculated based on the measured stick-slip vibration component,and was used as a slip-detection function to judge the incipient slip of the grasped object. Finally,in order to use the same threshold value to judge incipient slip for different grasping forces,a weight coefficient was experimentally identified and used in the slip-detection function. The effectiveness of the proposed slip detection method was verified by experimental results,which showed that incipient slip can be detected by the proposed slip-detection function with the same threshold value for various materials,different slipping speeds grasping forces. In addition,multiple iterations of the experiment had demonstrated that the slip detection is repeatable. 展开更多
关键词 slip detection robotic hand pressure sensor pressure center
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On set-point tracking control of dexterous robot hand
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作者 姜力 潘军 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2011年第5期61-64,共4页
A model-free set-point tracking control approach of multi-fingered robot hand is presented.The set-point tracking controller,which has the structural form of PD controller,is composed with a combination of feedforward... A model-free set-point tracking control approach of multi-fingered robot hand is presented.The set-point tracking controller,which has the structural form of PD controller,is composed with a combination of feedforward term,feedback term and saturation control term.The controller does not require the explicit use of dynamic modeling parameters.Experiments performed on the HIT/DLR hand demonstrate the effectiveness of the proposed approach in performance improvement and real-time application. 展开更多
关键词 tracking control robot hand KINEMATICS
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Intelligent Control of Multi-fingered Robot Hand
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作者 Yuan Kui Yu Che Guo Feng Yuan Xingjun Information Engineering School, UST Beijing, Beijing 100083, China 《International Journal of Minerals,Metallurgy and Materials》 SCIE EI CAS CSCD 1998年第2期99-99,共1页
The dynamics properties of a kind of multi-fingered robot hand is analyzed. It is pointed out that the dynamics property of this kind of multifingered robot hand in the approaching process is quite different from that... The dynamics properties of a kind of multi-fingered robot hand is analyzed. It is pointed out that the dynamics property of this kind of multifingered robot hand in the approaching process is quite different from that in the grasping process and,different control algorithm should be taken in the two process. A position-force hybrid control algorithm is proposed which is applied to the control system of the University of Science and Technology Beijing double-thumb robot hand successfully. 展开更多
关键词 multi-fingered robot hand control system position-force hybrid control
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Design of a novel finger of DLR/HIT dextrous robot hand based on mechatronic integration
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作者 刘伊威 赵京东 +1 位作者 金明河 刘宏 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2009年第3期376-381,共6页
With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size ... With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics. 展开更多
关键词 robotic hand SENSORS mechatronic integration
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Remote-Controlled Ambidextrous Robot Hand Concept
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作者 Emre Akyurek Alexandre Dilly Fabrice Jourdan Zhu Liu Souraneel Chattoraj Itziar Berruezo Juandeaburre Michel Heinrich Leonid Paramonov Peter Turner Stelarc Tatiana Kalganova 《Computer Technology and Application》 2013年第11期569-574,共6页
In the development of robotic limbs, the side of members is of importance to define the shape of artificial limbs and the range of movements. It is mainly significant tbr biomedical applications concerning patients su... In the development of robotic limbs, the side of members is of importance to define the shape of artificial limbs and the range of movements. It is mainly significant tbr biomedical applications concerning patients suffering arms or legs injuries, fn this paper, the concept of an ambidextrous design lbr robot hands is introduced. The fingers can curl in one xvay or another, to imitate either a right hand or a left hand. The advantages and inconveniences of different models have been investigated to optimise the range and the maximum force applied by fingers. Besides, a remote control interthce is integrated to the system, allowing both to send comrnands through internet and to display a video streaming of the ambidextrous hand as feedback. Therefore, a robotic prosthesis could be used for the first time in telerehabilitation. The main application areas targeted are physiotherapy alter strokes or management of phantom pains/br amputees by/earning to control the ambidextrous hand. A client application is also accessible on Facehook social network, making the robotic limb easily reachable for the patients. Additionally the ambidextrous hand can be used tbr robotics research as well as artistic performances. 展开更多
关键词 robot hand pneumatic muscles remote platform video streaming TELEREHABILITATION hand recognition
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Coordinated control and autonomous grasp with multifingered robot hands
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作者 李家炜 谢宗武 蔡鹤皋 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2000年第2期98-104,共7页
Presents major achievements in researches on coordinated control with multifingered robot hands by first briefing the present status of researches on multifingered robot hands, then discussing the coordinated control ... Presents major achievements in researches on coordinated control with multifingered robot hands by first briefing the present status of researches on multifingered robot hands, then discussing the coordinated control with multifingered robot hands, and finally exploring the way of achieving autonomous grasp, and thoughts on future researches. 展开更多
关键词 multifingered robot handS COORDINATED CONTROL AUTONOMOUS GRASP
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Imaginary displacement method for analysis of multi-fingered robot hands grasping stability
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作者 张永德 刘廷荣 李华敏 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 1999年第4期24-29,共6页
Gives an overview of the present status of researches on grasp stability of multi fingered dexterous robot hands,presents the imaginary displacement method for evaluating the grasp stability, which is easy to realize... Gives an overview of the present status of researches on grasp stability of multi fingered dexterous robot hands,presents the imaginary displacement method for evaluating the grasp stability, which is easy to realize on computer,and has no limit on contact points for each finger. Analyses for grasping stability with single contact point of typical objects with different curvature proved the effectiveness of the method proposed and optimal grasp examples are given as well. 展开更多
关键词 robot multi fingered hand GRASP STABILITY imaginary DISPLACEMENT method
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Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅰ) 被引量:2
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作者 TAN Guan-zheng(谭冠政) +3 位作者 LIANG Feng(梁丰) WANG Yue-chao(王越超) 《Journal of Central South University of Technology》 2002年第3期191-196,共6页
Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which res... Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots. 展开更多
关键词 industrial robots REAL-TIME ACCURATE hand path tracking joint trajectory PLANNING EXTRA KNOT
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METHOD OF CLASSIFYING GRASPS BY ROBOT HANDS 被引量:1
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作者 Zhang Yuru (Beijing University of Aeronautics and Astronautics William A. Gruver Simon Fraser University , Canada) 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 1996年第4期271-277,共2页
This research characterizes grasping by multifingered robot hands through investiga- tion of the space of contact forces into four subspaces , a method is developed to determine the di- mensions of the subspaces with ... This research characterizes grasping by multifingered robot hands through investiga- tion of the space of contact forces into four subspaces , a method is developed to determine the di- mensions of the subspaces with respect to the connectivity of the object. The relationship reveals the differences between three types of grasps classified and indicates how the contact force can be decomposed corresponding to each type of grasp. The subspaces and the determination of their di- mensions are illlustrated by examples. 展开更多
关键词 robot hand Classifying grasp Contact force
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Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅱ)
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作者 谭冠政 胡生员 《Journal of Central South University of Technology》 EI 2002年第4期273-278,共6页
Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method res... Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly. 展开更多
关键词 industrial robot REAL-TIME ACCURATE hand path tracking JOINT trajectory planning extra KNOT sinusoidal FUNCTION cosinoidal FUNCTION
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工业机器人手眼标定综合实验设计
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作者 茅靖峰 丁寅佳 +1 位作者 王正堂 吴爱华 《实验室研究与探索》 CAS 北大核心 2024年第3期51-56,共6页
为了提高工业机器人技术课程的多学科交叉应用与集成创新能力培养的教学效果,设计了一种针对眼在手外模式的机械臂手眼标定综合实验。采用机械臂、相机、标定板和Visual Studio软件完成手眼标定工程化实验平台的搭建,利用软件编程将采... 为了提高工业机器人技术课程的多学科交叉应用与集成创新能力培养的教学效果,设计了一种针对眼在手外模式的机械臂手眼标定综合实验。采用机械臂、相机、标定板和Visual Studio软件完成手眼标定工程化实验平台的搭建,利用软件编程将采集到的机械臂末端位姿信息转化为位姿矩阵,获得了标定板图片中圆心位置并求解了手眼矩阵,最后进行标定结果误差分析。通过熟悉设备、编写代码、调试程序、测试验证等步骤,帮助学生理解手眼标定理论知识,增强应用实践和创新能力。 展开更多
关键词 工业机器人 手眼标定 眼在手外 误差分析
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机器人灵巧手研究综述
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作者 刘伟 肖钊 +1 位作者 瞿寅朋 许守亮 《机械传动》 北大核心 2024年第9期167-176,共10页
机器人灵巧手可以模仿人类动作,完成复杂场景下的多种任务。机器人灵巧手的研究是开发智能人形机器人的关键技术之一。以机器人灵巧手的研究历程为核心,阐述了多指灵巧手的研究现状,分析了灵巧手的演化过程和研究进展。从自由度数目、... 机器人灵巧手可以模仿人类动作,完成复杂场景下的多种任务。机器人灵巧手的研究是开发智能人形机器人的关键技术之一。以机器人灵巧手的研究历程为核心,阐述了多指灵巧手的研究现状,分析了灵巧手的演化过程和研究进展。从自由度数目、驱动方式、机械传动方式和传感技术等方面探讨了灵巧手分类和特征,展望了灵巧手未来的发展趋势。 展开更多
关键词 机器人灵巧手 仿生技术 机械传动 感知技术
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齿轮倒角检测定位和加工系统研究
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作者 毕德学 郝孝其 +1 位作者 唐伟杰 丁彦玉 《机械设计与制造》 北大核心 2024年第11期150-154,159,共6页
为了满足对大尺寸,多型号齿轮的自动化倒角加工要求,设计一套基于机器人视觉的齿轮倒角检测定位和加工系统。本论文主要研究内容有:提出一种高精密协同测量的方法,实现对齿轮轮廓的精准测量,解决了齿轮轮廓在视觉系统中的定位问题;为应... 为了满足对大尺寸,多型号齿轮的自动化倒角加工要求,设计一套基于机器人视觉的齿轮倒角检测定位和加工系统。本论文主要研究内容有:提出一种高精密协同测量的方法,实现对齿轮轮廓的精准测量,解决了齿轮轮廓在视觉系统中的定位问题;为应对不同型号的齿轮加工,提出一种手眼协动的标定方法,标定出视觉系统和机器人系统的位姿关系;推导出在实际齿轮倒角加工过程中偏心现象和端跳震荡现象的误差模型,在机器人坐标系中进行纠正,实现视觉引导机器人进行齿轮倒角自动化加工进程。根据实验的数据表明,该系统的倒角加工精度优于0.3mm,满足齿轮倒角行业的自动化生产要求,对传统的齿轮倒角行业有着重要意义。 展开更多
关键词 机器人视觉 协同测量 手眼标定 误差模型
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