頁籤選單縮合
題名 | 機器手校準與視覺系統整合應用=An Integration of a Robot Calibration and Machine Vision System |
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作 者 | 鄧昭瑞; 蔡有藤; | 書刊名 | 技術學刊 |
卷期 | 12:2 1997.06[民86.06] |
頁次 | 頁259-265 |
分類號 | 446.8401 |
關鍵詞 | 機器手校準; 參數識別; 影像處理; Robotic calibration; Parameter identification; Image processing; |
語文 | 中文(Chinese) |
中文摘要 | 一般的機器手具有良好的重現性、可程式性,但其定位精度普遍不良;為了改善 此缺點,本文利用雷射位移計、三次元量測儀、花崗岩平臺,來對五個自由度的機器手做線 上校準;由實際量測的數據資料,來估算代表機器手幾何結構之旋轉參數和平移參數,利用 找出的參數來提高機器手的定位棈度。經由校準後的機器手和視覺系統結合,針對二維影像 做辨識和抓取動作之實驗,整個實驗過程利用軟體寫成的程式來控制,由實際抓取驗證較準 理論。 |
英文摘要 | In order to improve robot positioning accuracy, an on-ling calibration technique is introduced and applied to a five-axis industrial robot. Based on the experimental data measured by a single laser displacement meter, the actual robot's geometry is identified through a parameter estimation program. The robot control software is then modified in accordance with the geometry information obtained. In cooperation with a machine vision system, the calibrated robot is able to precisely pick up a specific object and place it on a predetermined location automatically. The result reveals a successful implementation of a robot calibration and machine vision system. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。