摘要： 在工业领域中使用机械臂进行作业任务时,传统的操作方法必须预先对机械臂进行示教以规定应完成的动作,其中间过程不但繁琐而且效率和精度都比较低。介绍2种不同的工业机械臂视觉定位方法:摄像机透视成像的线性针孔模型方法和基于针孔模型进行改进的非线性相 机空间操作方法。分析2种方法的区别和联系,分别进行多组机械臂定位实验,并对定位精度进行分析与比较。实验结果表明,在较小的三维空间区域中相机空间操作方法比针孔模型方法精度更高,而在较大的区域中进行定位时,针孔模型方法比相机空间操作方法精度更佳。

关键词: 针孔模型, 相机空间操作方法, 工业机械臂, 定位精度, 空间定位

Abstract: When robot manipulators are used in industrial field,manual teaching is often used for the movement of the tasks in traditional robot manipulator operating system,requiring manipulator the actions which should be completed and the details of the tasks.But these kinds of methods often have complicated process,low efficiency and accuracy.In this paper,two kinds of robot manipulator space positioning method based on vision are proposed:linear pin-hole model based on camera perspective projection and improved nonlinear Camera Space Manipulation(CSM) based on pin-hole model.The differences and relationship between the two methods are discussed.Multi-group of manipulator positioning experiments are carried out by both of the two methods,then the positioning accuracy is compared and analyzed.Experimental results show that CSM method is better than the pin-hole model method when the positioning tasks are executed in a small area and the positioning accuracy of the pin-hole model method is more accurate than the CSM method in a more bigger area.

Key words: pin-hole model, Camera Space Manipulation(CSM) method, industrial robot manipulator, positioning accuracy, space positioning

中图分类号: 

• TP391