| 基于图像的机器人视觉伺服系统仿真 |
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| 引用本文： | 钟金明,徐刚,张海波. 基于图像的机器人视觉伺服系统仿真[J]. 机床与液压, 2005, 0(6): 4-6 |
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| 作者姓名： | 钟金明 徐刚 张海波 |
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| 作者单位： | 1. 深圳大学工程技术学院,深圳,518060
2. 南京航空航天大学能源与动力工程学院,南京,210016 |
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| 基金项目： | 国家自然科学基金资助项目(编号:60175026) |
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| 摘 要： | 以四自由度GRB-400工业机器人为研究对象，采用CORECO图像采集系统，构建了基于图像的视觉伺服控制系统。建立了机器人视觉伺服系统的数学模型，推导了GRB-400机器人系统图像雅克比矩阵。应用Matlab和Simulink，对GRB-400机器人图像视觉伺服系统进行仿真实验。结果表明，本文构建的机器人视觉伺服系统对静态目标定位、对直线运动目标及曲线运动目标进行跟踪，可以达到较快的响应和较高的精度。
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| 关 键 词： | 视觉伺服 视觉跟踪 机器人控制 |
| 文章编号： | 1001-3881(2005)6-004-3 |
| 修稿时间： | 2005-02-18 |
Simulation of Image- based Robotic Visual Servo System |
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| ZHONG Jin-ming,XU Gang,ZHANG Hai-bo. Simulation of Image- based Robotic Visual Servo System[J]. Machine Tool & Hydraulics, 2005, 0(6): 4-6 |
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| Authors: | ZHONG Jin-ming XU Gang ZHANG Hai-bo |
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| Affiliation: | ZHONG Jin-ming 1,XU Gang 1,ZHANG Hai-bo 2 |
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| Abstract: | An introduction was provided for the image-based visual servo system of four-dof GRB-400 robotic combined with CORECO fast image acquisition and processing system.The robot visual servo control system mathematics model was built.The Image Jacobin Matrix for GRB-400 robot was established.The Matlab functions for the robot control and the Simulink models of the robot were integrated.The Simulink scheme for GRB-400 industrial robot visual servo system was built.The results of experiment show that for locating and tracking various types of motions,the performances of the system are good. |
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| Keywords: | Visual servo Visual tracking Robot control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
