仿人智能机械手孔轴装配无标定视觉伺服研究-控制工程专业论文.docxVIP

image features mapping model is proposed. ② The three-dimensional visual servoing simulation platform is designed, consist of three-dimensional scene graph module based on Open Inventor, manipulator control module based on Orocos, human-machine interaction control module base on DirectInput, vision mapping module based on OpenCV and graphic user interface module based on MFC. In this platform, the simulation of uncalibrated visual servoing for manipulator peg-in-hole assembly based on Human-Simulated Intelligent. ③ The binocular visual servoing experiment platform for 6-axes manipulator peg-in-hole assembly is constructed, and the experiment of manipulator peg-in-hole assembly base on Human-Simulated Intelligent is made. The results of simulation and experiment demonstrate that the method proposed in this paper can accomplish vision-guide peg-in-hole assembly task when the vision system parameters not calibrated and image Jacobian matrix not directly estimated. Keywords：Human-Simulated Intelligent，Peg-in-Hole，Uncalibrated Visual Servoing， Binocular Vision，Visual Servo Simulation Platform 目 录 中文摘要........................................................................................................ I 英文摘要....................................................................................................... II HYPERLINK \l _bookmark0 1 绪 论........................................................................................................1 HYPERLINK \l _bookmark1 1.1 课题的背景及意义 ........................................................................................1 HYPERLINK \l _bookmark2 1.2 机械手视觉伺服研究现状 ...............................................................................3 HYPERLINK \l _bookmark3 1.2.1 视觉系统的构建 ......................................................................................3 HYPERLINK \l _bookmark4 1.2.2 图像特征的选择 ......................................................................................5 HYPERLINK \l _book