The Develop of the Bombdisposed Robot Control System Base on stereo vision
Mechanical design and kinematics analysis of bomb-disposed robot manipulator were iscussed in this paper, and kinematics model was stablished Armed at solving the problems appeared in researchin remote control system of the bomb-disposed robot, a five-DOF manipulator and two directions of the freedom are produced, and the manipulator joint angle of the geometric method is given which avoided finding the solution of inverse process of the kinematics. To solve the problems appeared in the research process of the clamping mechanism of explosive handling robots paw, stereo vision identification system is used, producing weight and clamping width estimation in the image of the suspicious explosive object According to the monochrome gray scale difference in coloums of image matrix of pre explosive object, the estimation way of explosive object surface roughness is gained The project is feasible proved by my experiment
bom-bdisposed robot rem servo control PXI binocular stereo vision image identification
WeiFu Chengxian Zhou
Xiamen University of Technology,Electronic and Electric Engineering Department Xiamen, Postcode 361024, China
国际会议
2011 4th International Congress on Image and Signal Processing(第四届图像与信号处理国际学术会议 CISP 2011)
上海
英文
2030-2034
2011-10-15（万方平台首次上网日期，不代表论文的发表时间）