关节机器人视觉伺服控制系统研究-机械电子工程专业论文.docxVIP

A A B S I ，R A C T 4 .I n t h e a s P e e t o f th e v is u a l se rv o im a g e P r o e e s sin g f ro m t h e im a g e P r e一P r o e e ssin g ，im a g e s印 ara tio n ，im ag e tern P late m atehin g，the ex 恤 cted objects，an d 50 o n . F in ally ，the serv o eo n tro l sy stetn to d eten n in e th rou gh the gray-seale tran sform atio n ，H isto gr田刀 m etho d to e n h a n e e t h e im a g e P re 一 r o e e ssin g . E x P e ri m e n ts d e m o n stra te d t h a t t h e e a nn y e d g e d c te e tio n o P e ra to r e f fe e t，a n d t h e n u se C a nn y o P e ra to r to a c hi e v e t h e im a g e e d g e d e te e t io n ，R o b o t v is u a l se rv o sy s te m P r o P o se d in t h e C a nn y e d g e d e te c tio n m e t ho d u se d to d e te c t t he e d g e o f the im ag e o f th e regio n ，then tern P late m atchi n g m eth o d u sed to achi ev e the id en tifieatio n o f ta rg e t. 5 . C om P leted a join t rob ot visu al serv o con trol sy stem to eon tro l the d esign P roeess，w ith M ic ro so f t V i su a l C 料 a s a P r o g r a m m in g P la tf o r m f o r t he e o m P lc tio n o f t h e ro b o t se r v o eon tro l sy stem P rogram m in g an d in terfa ee d ev eloP m ent ，下附。u gh the d ev eloP m en t o f jo in t o P eratio n o f the in teri兔ee allo w ed to d eliv er th e v ari o u s jo in ts o f the ro b o t jo in t in form atio n an d the eo m P letio n o f im ag e P rocessin g ，tem P late m atch in g ，eraw lin g the targ ct an d the jo in t k in e m a tie s a n a ly sis o f r o b o t e o n t ro l f u n e tio n s . ‘ K e y 认/ Or d s : V i su a l se r v o ; C a m e ra c a lib ra tio n ; I m a g e P ro e e ssin g ; 丁七m P la te m a tc h in g T Y P E O F T H E S IS : A P P lie d R e s e a rc h 1 11 目录 目录 目 录 摘 要 ..........................................……，................................................................................……I A