机器人视觉伺服控制中的识别与跟踪技术研究-控制理论与控制工程专业论文.docxVIP

河南科投犬学硕士学位论文THE 河南科投犬学硕士学位论文 THE RESEARCH 0N THE TECHNOLOGY OF RECOGNIZING AND TRACKING lN VSCIM AB STRACT The paper states generally the development and achievement of visual servo control for industrial manipulator(VSCIM)，while introducing the present research of it．Setting out with the existing problems，the paper discusses some popular i ssues on VSCIM and studies the critical technologies in this area。Meanwhile the paper also puts stre ss on the issue of robot’S recognizing obj ects and tracking dynamical objects。 Basing on the study of USB2．0 technology and TWAIN communication protocols and using the technology of picture information processing，the paper presents a new method to extract picture digital characteristic s，SO as to realize the fast gene ration， coding，input，storing and compression of characteristic information。 U sing the character of human vi sual recognizing for instance，the technology perfects a projection，characteristics and knowledge method， achieving a match of the digital characteristics and the objects and improving veracity and celerity for recognizing a complicated colored target．By means of straight line and Circutar arc fitting two dimensional curve，the author carries out some research on prediction of moving object by robot to track and catch it。At last，with the complete test system composed of one type of GRB-400 SCARA robot， one USB mic ro—camera，one motion flat，and one Pentium 4 class PC， all codes above mentioned have been embedded in the software of robot control to realize the fast recognition and tracking the dynamical target 珏 摘要 摘要 in complicated environment， The result of experiment proves the feasibility of this technology and accuracy of the paper． KEY WORDS：Visual Servo Control，Industrial Manipulator，Digital Characteri stiC S，Dynamical Target，Recognizing and Tracking 111 笫I章绪论第l章绪论 笫I章绪论 第l章绪论 §1．1橇器人视觉饲雅系统的研究琥状 蓬去的20毯纪，是久类痃变．￡科学技术飞速发震静对期，麸糨 对论静铋立，劐藩子能蠡奄应蠲，获脱氧核糖核酸双撩藏结构静发现， 鬟信患技术翁瓣飞、虢天飞祝静成功发射，瀵界科学投术歆褥了辉煌