| 航天机器人手眼视觉模拟系统初步设计 |
| |
| 引用本文： | 赵锐,徐科军,王永红.航天机器人手眼视觉模拟系统初步设计[J].合肥工业大学学报(自然科学版),2005,28(7):709-712. |
| |
| 作者姓名： | 赵锐 徐科军 王永红 |
| |
| 作者单位： | 合肥工业大学,电气与自动化工程学院,安徽,合肥,230009;合肥工业大学,仪器仪表学院,安徽,合肥,230009 |
| |
| 摘 要： | 介绍了国外航天机器人手眼视觉系统的构成及原理,给出了在地面模拟实验系统中基于PC机和图像采集卡的机器人手眼视觉系统的初步设计方案,包括硬件设计和软件设计等;对手眼视觉系统中的一些关键技术进行了初步的研究,包括摄像机标定及3D目标物体的位置和姿态测量。实验表明,上述算法满足机器人手眼视觉测量要求,为以后的实际应用打下了基础。
|
| 关 键 词： | 航天机器人 手眼视觉 摄像机标定 位置和姿态测量 |
| 文章编号： | 1003-5060(2005)07-0709-04 |
| 修稿时间： | 2004年9月27日 |
Primary design of hand-eye vision simulation system of space robots |
| |
| ZHAO Rui,XU Ke-jun,WANG Yong-hong.Primary design of hand-eye vision simulation system of space robots[J].Journal of Hefei University of Technology(Natural Science),2005,28(7):709-712. |
| |
| Authors: | ZHAO Rui XU Ke-jun WANG Yong-hong |
| |
| Institution: | ZHAO Rui~1,XU Ke-jun~1,WANG Yong-hong~2 |
| |
| Abstract: | The configuration of the hand-eye vision system in the foreign space robots is introduced,and a primary design of the robotic hand-eye vision system based on a PC and the image acquisition card in the ground simulation experimental system is presented,including hardware and software design. Some key techniques are studied including camera calibration and 3-D object position and orientation measurement. The experimental results show that the presented methods can meet the demands of robot hand-eye vision system. This study lays a basis for robotic applications. |
| |
| Keywords: | space robot hand-eye vision camera calibration position and orientation measurement |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
