机械臂空间目标视觉抓取的分析-机械工程专业论文.docxVIP

II II Abstract Spatial manipulators are able to substitute cosmonauts to accomplish many important tasks, which makes it very worthy of study. When executing spatial tasks, the manipulators need to recognize, track and grasp the target. Vision is an easy access to the environment information. A research into vision based spatial target grasping can offer a way to examine algorithms relating to vision, control and calibration. Moreover, it can provide an experimental platform for spatial grasping. Firstly，to use machine vision, both intrinsic and extrinsic parameters of the cameras need to be calibrated. The calibration of intrinsic parameters is done with the help of MATLAB toolbox. Combining geometry method and pose-decomposition method, the calibration of extrinsic parameters of binocular vision is finished. The calibration of eye-in-hand system is sensitive to noise, and traditional calibration method cannot meet the requirement of precision. In this paper, a non-linear optimal eye-in-hand calibration method is proposed, in which the rotation matrix and translation vector are calibrated simultaneously. This method makes the calibration less sensitive to noise, and therefore more precise. Secondly, the pose of the target needs to be estimated. For a target characterized by circle, the task can be transferred into circle pose estimation. If there are no special marks on the circle, it is hard to find the corresponding points in its projection. In this paper, the global information of the projection is utilized to reconstruct the pose of the target. Because the projection of a circle is an ellipse, the expression of the ellipse needs to be calculated before reconstruction. Based on least square method, the ellipse is well fitted. A closed form solution to estimating the pose of a circle based on its elliptical projection is deduced. When doing estimation, there are two possible solutions. An approach based on Euclidean angular constraint is used to overcome this am