基于立体视觉的虚拟机械臂平面定位研究

结合星球探测的应用背景,对漫游车的工作方式进行了研究,针对车载机械臂开发了一套基于立体视觉的机械臂平面定位仿真系统。该系统依靠虚拟现实技术,通过虚拟机械臂对三维重建得到的平整物体表面的定位仿真得到机械臂的各关节参数,以此指导真实机械臂的运动。论述了基于立体视觉的机械臂定位机理和基于OpenGL的虚拟机械臂的实现过程。采用VC++构建了仿真实验平台,进行了定位实验,获得了较高的定位精度。

According to the application of the planet detection,the work mode of the rover was studied.Meanwhile,a corresponding robot arm plane localization simulation system for real rover robot arm based on stereo vision was developed.By means of virtual reality technique,the simulation system provided motion parameters of virtual robot arm to real arm.The parameters were obtained by virtual arm localization on the object with plane surface which was reconstructed by stereo vision.The orientation theory based on stereo vision,and the realization of virtual robot arm based on OpenGL,were introduced.The simulation platform was developed by VC++.The orientation experiment was made and the high orientation precision was obtained.

国家“863”计划资助项目(2002AA422130)