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利用Ф2mm电磁型微马达作为执行器设计制作了一外形尺寸为 5mm× 6mm的微型机器人小车 ,附设了粗细两级CCD摄像头来实现机器人视觉。为了满足机器人实时控制的要求 ,采用简单实用的机器人运动参数粗略提取方法 ,实现了机器人当前位置、运动速度和方向以及运动加速度等参数的实时提取。当机器人到达目的地来实现微器件精密定位时 ,采用亚像元定位的方法来实现微操作端位置参数的精确提取。模板匹配技术在微型机器人系统中的灵活运用解决了系统参数提取的实时性问题 ,实现了机器人视觉
The use of Ф2mm electromagnetic micro-motor as the actuator design and manufacture of a size of 5mm × 6mm miniature robot car, attached to the thickness of two CCD camera to achieve the robot vision. In order to meet the requirements of real-time robot control, a simple and practical method of rough extraction of robot kinematic parameters is adopted to realize the real-time extraction of parameters such as robot’s current position, velocity and direction of motion, and acceleration of the robot. When the robot reaches the destination to achieve precise positioning of the micro-device, sub-pixel positioning is adopted to accurately extract the position parameters of the micro-operation end. The flexible application of template matching technology in micro-robot system solves the real-time problem of system parameter extraction, realizes the robot vision