【摘要】 对机器人视觉伺服系统的研究是机器人领域中的重要内容之一,其研究成果可应用在机器人自动避障、轨线跟踪和运动目标跟踪等问题中。本文分析了基于图像雅克比矩阵的机器人视觉伺服方法的基本原理,采用了基于图像的视觉伺服方法,直接利用图像特征来控制机器人运动,构建了自由度GRB-400工业机器人图像反馈视觉伺服系统。采用该系统进行了机器人跟踪两维平面运动目标的实验,结果验证了该方法的有效性。更多还原

【Abstract】 A robotic visual servo system is one of the most important subjects in the field of robots. Its research findings can be applied to robot obstacle avoiding, trajectory tracking and moving object tracking, etc. In this paper, the principle for robot visual servo system based on image Jacobian is analyzed,the method of an image-based visual servo and made use of image properties to control robotic motion is used and a four DOFs GRB-400 industrial robot visual servo system based on the image feedback is built. The experiment for GRB-400 robot tracking a target in the 2D space is carried out based on the scheme. Experiment results show the validity of the scheme.更多还原