| 基于单目视觉的工业机器人智能抓取研究 |
| |
| 引用本文： | 王修岩,程婷婷.基于单目视觉的工业机器人智能抓取研究[J].机械设计与制造,2011(5). |
| |
| 作者姓名： | 王修岩 程婷婷 |
| |
| 作者单位： | 中国民航大学航空自动化学院,天津,300300 |
| |
| 基金项目： | 国家自然科学基金重大资助项目 |
| |
| 摘 要： | 针对工业装配生产线的自动装配问题,设计了一种基于单目视觉技术的机器人自动识别与智能抓取的结构.运用最大隶属度规则建立匹配关系矩阵,构建决策矩阵达到工件的模糊自主识别目的,并采用基于二阶惯性矩的轴向确定方法.在机器人装配作业平台上进行了工件识别与抓取的实验研究,实验结果表明,该方法能够获得很好的识别效果和实时性,为工业机器人智能抓取目标提供了必要的信息.
|
| 关 键 词： | 工业机器人 单目视觉 匹配关系矩阵 模糊识别 二阶惯性矩 |
Research on industrial robot intelligent grasp based on monocular vision |
| |
| WANG Xiu-yan,CHENG Ting-ting.Research on industrial robot intelligent grasp based on monocular vision[J].Machinery Design & Manufacture,2011(5). |
| |
| Authors: | WANG Xiu-yan CHENG Ting-ting |
| |
| Affiliation: | WANG Xiu-yan,CHENG Ting-ting(Aerontatical Automation College,Civil Aviation University of China,Tianjin 300300,China) |
| |
| Abstract: | With reference to the automatic assembly problems ocurred in industrial assembly line,a monocular vision-based robot with automatic identification and intelligent grasp is designed.Matching relationship matrix is established by applying rules of maximum degree of membership.And decision matrix is designed as well in order to recognize the workpieces fuzzily.Meanwhile,the method of second moment of inertia is applied to determine the axia.The experiment which allows the robot to recongnize and grasp the work... |
| |
| Keywords: | Industrial robot Monocular vision Matching relationship matrix Fuzzy recognition Second moment of inertia |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
