机器人插件作业的视觉导引方法研究

插件作业 (parts mating)是装配机器人的一项基本作业环节 .本文介绍了以双目立体视觉实现该作业的视觉导引方法 .该方法通过采用人机交互方式 ,借助于人的智慧 ,提高了图像特征提取和匹配的准确性和可靠性、可直观准确地给出插件作业的动作参数 ,克服了自动视觉计算复杂、鲁棒性差的缺点 ,适用于机器人遥操作作业 .实验表明 ,基于人机交互的机器人插件作业在立体视觉导引下是完全可行的

The robot part mate is an important work process of robot assembly.  A vision gu ided part mating method based on stereo vision is presented in this paper. In o rder to avoid the complex calculation and  poor robustness in automatic visual guided process, a man-machine in teraction stereo vision method is developed. This method can improve the reliabi lity of image feature extraction and match in robot teleoperation. It can be sho wn by experiment that our method can execute this kind of part mating task when  a 0.6mm gap or more exists between the active part and passive part.