Research on Manipulator Positioning Based on Stereo Vision in Virtual Environment

被引：5

作者：

Zou, X. J. ^{[1
]}

Zou, H. X. ^{[1
]}

Lu, J. ^{[1
]}

Chen, Y. ^{[1
]}

Guo, A. X. ^{[1
]}

Deng, J. Z. ^{[1
]}

Luo, L. F. ^{[1
]}

机构：

[1] S China Agr Univ, Key Lab Key Technol Agr Machine & Equipment, Minist Educ, Beijing 510642, Peoples R China

来源：

MANUFACTURING AUTOMATION TECHNOLOGY | 2009年 / 392-394卷

关键词：

Complex environment; Virtual picking manipulators; Positioning; Binocular stereovision;

D O I：

10.4028/www.scientific.net/KEM.392-394.200

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Inherent uncertainties always exist in the positioning picking manipulators in complex environment, modeling and simulation of positioning. The manipulators were discussed based on binocular stereo vision in virtual environment (VE). Based on stereo vision, a method how virtual manipulators locate picking object by human-computer interaction (HCI) was proposed. The data input from vision were mapped to virtual picking manipulators so that it could enable the positioning and simulation with route and events-driven mechanism. The positioning experimental platform in VE consists of hardware of CCD stereo vision and simulation software. The visualized simulation system was exploited by EON SDK. The simulation of manipulator's positioning was realized in VE by the platform. This method can be used for virtual robot to locate objects' long-distance positioning in complex environment.

引用

页码：200 / 204

页数：5

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