双目视觉机器人物体搬运伺服控制系统研究Research on the Robotic Servo Control Systems with Double Vision for Target Object Moving
杨忠耀,段锁林
摘要(Abstract)：
机器人视觉伺服系统的研究在机器人研究领域中起着重要作用,其研究结果的运用能使机器人更加智能化。文章以固高GRB-400机器人在双目视觉系统的条件下,基于位置的视觉伺服方法,研究了手爪如何精确定位物体和确定抓取物体的深度并确定目标姿态的方法。实验证明该方法能够实现机器人对物体的精确定位、抓取和搬运。
关键词(KeyWords)： 双目视觉机器人;基于位置的视觉伺服控制
基金项目(Foundation):
作者(Author): 杨忠耀,段锁林
参考文献(References)：
- [1]HUTCHINSON S,HAGER G D,CORKE P I.A tutorial on visual servo control[J].IEEE Trans.Robot,Automat,1996,12:651-670.
- [2]赵清杰,连广宇,孙增昕.机器人视觉伺服综述[J].控制与决策,2001,16(6):849-853.
- [3]NGUGEN MC.Situation-oriented behavior-based stereo vision to gain robustness and adaptation in manipulator control[A].Procof SPIE[C].Massachusetts,1999(3837):90-97.
- [4]ESPIAU B,CHAUMETTE F,RIVES F.Anewapproach to visual servoing in robotics[J].IEEE Trans on Robotics and Automa-tion,1992,8(3):313-326.
- [5]HILL J,PARK WT.Real time control of a robot with a mobile camera[A].Proc.9th Int.Symp On Industrial Robots[C].Wash-ington,USA,1979,233-246.
- [6]求是科技.VC++数字图像处理典型算法及实现[M].北京:人民邮电出版社,2006.
- [7]WILLIAM K PRATT.数字图像处理[M].邓鲁华,张延恒,等译.北京:机械工业出版社,2005.
- [8]郑南宁.计算机视觉与模式识别[M].北京:国防工业出版社,1998.
- [9]WILSON W J,HULLS C C,BELL G S.Relative end-effector control using Cartesian position-based visual servoing[J].IEEETrans on Robotics and Automation,1996,12(5):684-696.
- [10]WESTMORE D B,WILSON W J.Direct dynamic control of a robot using an end-point mounted camera and Kalman filter posi-tion estimation[A].IEEE Conf on Robotics and Automation[C].California,1991,3:2376-2384.
- [11]VARGES M,R RUBIO F,Malpesa A R.Pose-estimation and control in a 3D visual servoing system[A].Proc.of the 14th IF-AC[C].Beijing,1999.
- [12]ILSE CERVANTES,RUBENGARRIDO,JOSE ALVAREZ-RAMIREZ,ANGEL MARTINEZ.Vision-Based PID Control of Pla-nar Robots[J].IEEE TRANSACTIONS ON MECHATRONICS,2004,9(1):132-136.