Study On The Target Positioning For An Omni-Directional 3 DOF Mobile Manipulator Based On Machine Vision

被引：1

作者：

Wang, Jiwu ^{[1
]}

Du, Yao ^{[1
]}

Xu, Wensheng ^{[1
]}

Sugisaka, Masanori ^{[2
,3
]}

机构：

[1] Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China

[2] Alife Robot Corp Ltd, Oita, Japan

[3] Open Univ, Milton Keynes, Bucks, England

来源：

JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE | 2017年 / 4卷 / 03期

关键词：

mobile robot; machine vision; 3 DOF manipulator; Omni-direction;

D O I：

10.2991/jrnal.2017.4.3.9

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The omni-directional mobile robot with multi DOF, because the operation posture and operation accuracy of the manipulator can be better controlled in a narrow or crowded workplace compared with the general manipulator, is getting more interested in practical applications. The present problem is to improve its flexibility for operating multiple different targets. Target recognition with image processing is an effective solution. Based on the image processing, the position and posture of the target can be determined. Then the signal will be sent to the arm control system. In this paper, the illumination conditions, distortion, etc. are studied in the target recognition. The target position with image processing, is verified with real coordinates. The experiments show target recognition with image processing can effectively improve the flexibility of our robot.

引用

页码：217 / 220

页数：4