摘要： 建立一种基于视觉的并联机器人位姿检测系统框架，包括图像采集、图像处理、位姿检测、参数反馈4个部分。使用单目摄像头采集图像，以二自由度冗余机器人为控制对象，利用Haar特征提取对目标进行粗跟踪。进一步获得目标上特定的几个特征点，基于平行不变性原理，得到机器人末端操作器的实际位姿参数。通过求解机器人的逆运动学方程，得到电机的控制参数。实验和仿真验证了该系统的可行性。

关键词: Haar特征, 二自由度并联机器人, 位姿检测

Abstract: This paper presents a vision based feedback system framework of position and orientation measurement for parallel robot. It is composed of image acquisition, camera calibration, position and orientation measurement, and parameter feedback. Single camera is used for image acquisition. A kind of 2-DOF parallel robot is used as control object, and Haar-like feature detection is presented as a method of rough object tracking. In order to acquire the real parameters based on invariants of trapezia, the special feature points on the object are determined. An inverse-kinematics of robot is used to get the control signals of every motor. And the feasibility of the system is proved by simulation experiments.

Key words: Haar feature, 2-DOF parallel robot, pose measurement

中图分类号: 

• TP391