【摘要】 研究一种构造分布式机器人视觉伺服系统的方法。在分布式机器人视觉伺服系统的基础上,运用NI公司(美国国家仪器公司)的LabVIEW,将四自由度机器人系统和实时图像采集系统连接起来,构成了基于LabVIEW的分布式机器人视觉伺服系统。推导了视觉伺服机器人系统的图像雅克比矩阵,用LabVIEW语言编写了基于逆模型的控制算法,给出了实验结果。更多还原

【Abstract】 It is presented to construct an autonomous distributed visual servo robot system in a new method.Using the existing robot system and image capture system,construct the visual servo robot system with national instrument technology.Firstly,the mathematic models of the robot and the projection are established,then,the Image Jacobin Matrix(IJM) of the visual servo robot is deduced.The closed loop control software is programmed in LabVIEW language,and finally the 2d tracking result is given.更多还原