摘要
在分析了机器人离线编程后,提出了一种基于视觉的机器人控制方法。经过图像采集卡控制相机采集作业对象信息、对图像进行二值化处理、边缘检测、特征量计算、相机标定等步骤后,根据作业对象特征形成机器人控制信息。再调用MOTOCOM32库函数与机器人通信,实现对机器人的实时控制。实验完成了预定的作业任务,并证明了该方法的意义和实用价值。
A robot control method based on vision has been proposed, by means of the off-line programming analysis. Information of the operating objects is gathered by cameras controlled by image grabbing card. For image processing, such steps like binarization processing, edge detection, characteristic quantity calculation, camera calibration, etc. are proceeded, and in this way the robot control information is formed, based on the operating object＇s characteristics. Library function from M OTOCOM32 is called to communicate with the robot, thereby a real-time control of the robot can be achieved. This experiment accomplished mission anticipated, and suggested the meaning of this method as well as its practical value.
出处
《组合机床与自动化加工技术》
北大核心
2009年第7期66-68,81,共4页
Modular Machine Tool & Automatic Manufacturing Technique
关键词
视觉伺服
机器人
图像信息
离线编程
visual servoing
robot
image information
off-line programming
