Research of this dissertation is supported in part by a National High-tech R&D Project: Humanoid Operating and Serving Robot with Double Arms and a CAS Innovation Project: Structural Light Visual Servo Control Based on Open Robot Controller. The topics of this dissertation are related to vision measurement methods, welding robot vision measurement and control system, head subsystem of humanoid operating robot and some relating software designs. Firstly, the general research and application in the field of robot visual control are reviewed, and the architecture and development of robot visual control system are discussed. The background and structure of this dissertation are also introduced. After robot vision measurement methods are discussed, a double-eye vision measurement system and a structural light based double-eye vision measurement system are proposed in this dissertation, and then some reasons about errors of vision measurement method are analyzed. A welding robot vision measurement and control system is designed and developed in this dissertation. The system adopts vision measurement method based on structure light, it can recognize and trace welding-line automatically, and the vision module can dominate the robot to start and stop wielding in time. Experimental results prove the validity of proposed methods. The head subsystem of humanoid robot is designed and realized. After the functions and architecture of humanoid operating robot are analyzed, this dissertation mainly discussed vision control module, vision monitor module and audio control module of humanoid operating robot. Finally, the obtained results are summarized and future work is addressed.
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