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題名 | 運用架在機械手臂上攝影機於手臂定位之研究=Positioning of a Robot Using a Camera Mounted on Hand |
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作者 | 呂明山; Lu, Ming-shan; |
期刊 | 明志技術學院學報 |
出版日期 | 20010600 |
卷期 | 33 2001.06[民90.06] |
頁次 | 頁17-22 |
分類號 | 448.94 |
語文 | chi |
關鍵詞 | 手眼; 校正; 轉換矩陣; 定位; Hand-eye; Calibration; Transformation matrix; Positioning; |
中文摘要 | 本專題研究主要應用架在機械手臂夾爪上之攝影機輔助機械手臂定位。研究步驟包括攝影機校正、攝影機與夾爪(手眼)校正及機械手臂對物體的抓取定位。攝影機校正的方法為移動機械手臂於不同的位置並觀察校正板上控制點相對攝影機影像內點的位置,引用Tai's 徑向對準拘束條件解出攝影機的內部參數及外部參數。接著,應用齊次矩陣方程式 AX=XB 的解,來求得手眼校正轉換矩陣。本研究中提出組合純平移及純旋轉運動可化簡方程式,快速獲得校正轉換矩陣。最後,此轉換矩陣應用於攝影機引導機械手臂對物體的定位抓取。 |
英文摘要 | In this research, a camera mounted on hand is applied to positioning of a robot. The systematic procedure consists of camera calibration, hand-eye calibration and positioning of a robot for grasp of an object. For camera calibration, the images of control points are observed at different robot's locations. Tsai's radial alignment constraint method is introduced to obtained the internal and external parameters of the camera. Then, the hand-eye calibration problem becomes to solve the equation of the form AX=XB. In this paper, combination of pure translation and pure rotation of robot motion is proposed to obtain the simplified hand-eye calibration equation which can solved quickly. Finally, this transformation matrix from eye to hand is implemented into positioning of a robot for grasp of an object. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。