| 基于视觉六自由度分拣机器人
视觉图像坐标变换的研究 |
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| 引用本文： | 弓靖,栗俊艳,刘鹏飞,王兴华.基于视觉六自由度分拣机器人
视觉图像坐标变换的研究[J].导航与控制,2016(3):9-12. |
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| 作者姓名： | 弓靖 栗俊艳 刘鹏飞 王兴华 |
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| 作者单位： | 航天科技集团九院16所机器人事业部,西安,710100 |
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| 摘 要： | 针对机器人定位分拣问题,研发了一种基于视觉的六自由度分拣机器人系统,深入研究了视觉图像坐标引入到机器人控制系统后的坐标变换,并对机器人的分拣动作进行规划,实际运行结果表明,该系统可以实现机器人的定位分拣问题,并且可靠性高,在分拣搬运领域具有较高的应用价值.
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| 关 键 词： | 视觉 机器人 分拣 坐标变换 |
Research on Coordinate Transformation of Vision Image
Based on 6-DOF Vision Sorting Robot |
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| GONG Jing,LI Jun-yan,LIU Peng-fei and WANG Xing-hua.Research on Coordinate Transformation of Vision Image
Based on 6-DOF Vision Sorting Robot[J].Navigation and Control,2016(3):9-12. |
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| Authors: | GONG Jing LI Jun-yan LIU Peng-fei and WANG Xing-hua |
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| Institution: | The 16th Institute,China Aerospace Science and Technology Corporation;The 16th Institute,China Aerospace Science and Technology Corporation;The 16th Institute,China Aerospace Science and Technology Corporation;The 16th Institute,China Aerospace Science and Technology Corporation |
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| Abstract: | According to the robot localization sorting problem, this paper developed a 6-DOF robot sorting system based on vision, and further study the coordinate transformation when visual image coordinates is introduced in the robot control system, and plan the sorting action of the robot. The actual running result shows that the system with high reliability can realize the robot localization sorting problem, and has high application value in the field of sorting and handling |
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| Keywords: | vision robot sorting coordinate transform |
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