【摘要】 很多实际应用需要机器人有视觉反馈功能。本文采用光纤传象束传递图象,将机器人眼睛装在手上。保证机械手在任何位置都可以给出视觉反馈信号。文章讨论了如何将此方法用于装配机器人,使其能进行插轴入孔操作及准确地抓取物体。实验证明这是装配机器人的一种有效的视觉反馈方式。更多还原

【Abstract】 Robot vision-feedback function is utilized in many fields.In this paper an eye-in-hand robot vision is proposed by using coherent fiber optics bundles to transmit objectimage.Thus vision-feedback signal can be obtained at any position of the gripper.By using this method the robot can insert an axis into a hole and precisely graspan object.Experiments demonstrate that this is an available vision-feedback method forassembly robot.更多还原