基于触摸示教与视觉引导的机器人控制方法研究

摘要

结合日趋成熟的触摸技术和机器视觉,提出了一种基于触摸和视觉引导的机器人控制方法.该方法通过捕捉触摸动作,标定摄像机的内外参数,经触摸坐标系、像素坐标系、摄像机坐标和机器人坐标系之间的变换,将触摸动作映射到机器人坐标系下,控制机器人运动至目标位置.实验结果验证了所提出控制方法的有效性.%With the maturity of touch technology and machine vision,this paper proposes a novel method to control a robot.In this method,the obtain of touch actions and the calibration of the camera's intrinsic and extrinsic parameters are introduced.Through the transforming matrices among the touch coordinates,the pixel coordinates,the camera coordinates,the robot coordinates,the touch actions can be mapped into the robot coordinates to control the robot accurately position the target location.The experiment results prove the effectiveness of the control method.