帶視覺的伺服機(jī)械手臂系統(tǒng)的研究.pdf

1、東北大學(xué)碩士學(xué)位論文帶視覺的伺服機(jī)械手臂系統(tǒng)的研究姓名：李琳申請學(xué)位級(jí)別：碩士專業(yè)：控制理論與控制工程指導(dǎo)教師：顧樹生20070101東北大學(xué)碩士學(xué)位論文Research011ServoMechaincalAlmsSystemwitllVisionAbstractCombiningrobotcontrolwithvisionisaelaieforientationofrobotinfllrthclrdevelopingwlaielaco

2、uldmaketherobottohavetlaeabilityofinteractionwithexternalenvironmentThispaperhastakentlacGugaoCompanys(3RB400withvisionrobot笛studyobjeetbuiltimageprocessingalgorithmslibraryofimageacquisitioncardwithVisualCprogramsoftwal

3、teachievedthattlactargetrcc09111zedautomaticallyandthemeelaanicala皿collisionflree、vhenitismovingandsolvedtlacproblemthatmostrobotscontroldel砌ading011teaelaingandlackinginitiativeatpresentBythe∞mparisonofSOlml：imagcproces

4、singmethods，suelaaSimagescgmentatiolaComerdetectionandjmagematelaingtlacbcttclralgoritlmsforthesystemhavebeenfoundandappliedtogettheimagl：coordinatcofcameraeahbrationmodelandrecognizetargetTilecxperimclatresultsshowthatt

5、lacmechanicala珊couldfindtlactargetautomaticallyaftertemplatehavingbeenconformedandaclllalizcgraspingmovementwithoutinterventionBystudyjngfilemechanismofpinholeilnag(：ac鋤mmodelwithOilCstepradialdistortedhasbeenbuilt，andit

6、sinteriorandexteriorparametcrshavebeencalculatedAtthes鋤ctimeusingtlacsimilarityofBP11CUImnetworkandCameracalibrationafleW鋤cncalibrationmethodbyBPll伽llPalnetworkhasbeenpresentedItissosimplethatneedonlyknowthedataofworldco

7、ordinateandcomputerimagecoordinateandncednotascertaintheCallnm’smodelanditsinteriorandcxtcriorparametersAccordingtotheclaar刪csofpositivcfeedbackandparallelismofantcolonyalgorithmantcolonyalgorithmhasbeenusedtoplanthepath

8、formechanicala咖whenthclrca∞m0犯thantwobarriersonworkingplatformandpreliminaryeffecthasbeenachievedButthereislimitationtothesystemwhentlaebasedalgorithmisappliedandtheperforma礎(chǔ)effectoftheplanningspeedandaccuracyneedbeimpro

9、vedSOtlacsizeofcompartmentalize鰣disehaugedtlacmethodsoflocalandglobalinformatiollupdatinghavebeenimprovedandtherangeofants’visualficldhavebeenenlargedTheexperimentresultsshowthata／itcolonyalgorithmcouldaelaievethefunctio