融合图像处理与超声测距的工件精确抓取

图像处理给出工件的形心在图像的位置与姿态，利用本文提出了一种简单与高精度的映射算法，求出形心在机器人参考坐标的位置，引导超声波距离测量仪测量到工件的正上方测量工件的深度数据．融合图像处理给出的形心的位置与姿态和超声波测量得到工件深度数据，获得机器人的控制输入向量，控制机器人运动并实现精确抓取工件．图像处理的低误差与超声波的高精度深度测量，获得了工件抓取的高精确度．

WORK-PIECE PRECISE GRASPING BY IMAGE FUSION PROCESSING AND ULTRASONIC RANGE MEASUREMENT

The center pointer and pose of work piece are given by image processing and are transformed to the robot coordinate by a simple and high precise mapping algorithm. The depth of work piece is obtained by ultrasonic range measurement. The data fusion of center pointer , pose and depth of the work piece and the control input vector of robot is computed out. The robot movement is precisely controlled by the control input vector and work piece is precisely grasped. The low error of image processing and high precision of depth measurement ensure that the grasping is highly precise.