智能机器人多传感器实验平台的图像伺服系统

结合智能机器人多传感器实验平台的研制工作 ,系统介绍了其图像伺服子系统的工作原理、系统构成以及实现方案 ,涉及图像处理、机器视觉和机器人跟踪控制等相关内容 ,并讨论了物体自动识别和抓取过程中需要注意的一些问题 .

As a very important part of the intelligent robot test platform of multi robotic sensors constructed in our lab, image servo subsystem covers many fields such as image processing, robot vision and robotics, etc. In order to descript how it works, this paper firstly introduces the principle of the system as well as its construction and its solution, then explains how to locate the object in its image, and how to control robot to locate and grasp object in the platform. And finally some questions associated its process are discussed in the paper.

国家高技术研究发展计划资助项目 (2 0 0 2AA4 2 32 0 0 ) .