中国空间科学技术

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基于手眼视觉的测量与定位方法的研究与实现

孟偲,王田苗,丑武胜   

  1. 北京航空航天大学机器人研究所,北京航空航天大学机器人研究所,北京航空航天大学机器人研究所 北京100083 ,北京100083 ,北京100083
  • 发布日期:2002-12-25

Study and Implementation of a Scaling and Locating Methodology Based on Eye-in-Hand Vision

Meng Cai Wang Tianmiao Chou Wusheng (Robotics Institute from Beijing University of Aeronautics and Astronautics,Beijing 100083)$$$$   

  • Published:2002-12-25

摘要： 机器视觉对机器人克服工作环境中的不确定性具有重要意义。针对空间遥操作机器人面对的是危险不确定环境 ,文中提出一种基于手眼视觉的测量与定位方法 ,可为判断未知目标物体是否可抓持以及进行抓持规划提供有效依据。在重复定位的任务中 ,该方法可以利用目标物体的先验信息快速定位从而避免频繁移动手臂。文章首先给出了该方法的原理 ,然后通过实验实现了此方法 ,并对误差进行了分析 ,实验结果表明了该方法具有较高的精度。

关键词: 空间定位, 测量方法, 机器人视觉, 研究

Abstract: Computer Vision plays a great role in enhancing robot′s intelligence and ability to overcome uncertainties in unknown environment.Since spacial telerobot works in a hazardous and uncertain environment, a method is proposed to scale and position unknown objects based on eye in hand vision which can help the telerobot estimate whether it can grasp the unknown object, and determine where and how to grasp.In repositioning tasks, it can locate the object fast by using their prior information and avoid moving the manipulator frequently. The theory on which the method is based is addressed and then the method is validated by an experiment and the error is analyzed. The result confirms that this method can achieve high accuracy.