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针对基于实物采摘机器人的视觉定位的准确度、稳定性以及试验验证易出错、周期长、不易于室内进行等问题,结合采摘机器人视觉定位机理和机器人运动学,提出了一种基于半实物仿真技术的采摘机器人视觉定位研究方法。该方法采用虚拟采摘机器人代替实物机器人,在虚拟仿真环境下对水果目标采摘点进行定位研究,即视觉定位半实物仿真。试验结果表明:在视觉定位半实物仿真环境下,水果目标定位的平均绝对误差和相对误差分别仅约为2.89 mm和0.43%,满足实际视觉定位精度的要求,从而验证了该仿真方法的有效性和可行性。
Aiming at the problems of the accuracy and stability of visual positioning based on real picking robots and the error of test and verification, long cycle time and difficult to be carried out indoors, a semi-physical simulation technology based on semi-physical simulation was proposed based on the visual positioning mechanism of picking robot and robot kinematics. Picking robot visual positioning research methods. In this method, a virtual picking robot is used instead of a real robot to locate the picking point of the fruit target under the virtual simulation environment, that is, the semi-physical simulation of visual positioning. The experimental results show that the average absolute error and the relative error of the target positioning are only about 2.89 mm and 0.43%, respectively, under the environment of semi-physical simulation of vision positioning, which meets the requirements of the actual visual positioning accuracy and thus verifies the effectiveness of the simulation method And feasibility.