Study on Behavior Simulation for Picking Manipulator in Virtual Environment Based on Binocular Stereo Vision

摘要：

Aiming to uncertain problem in the process of picking manipulator location and behavior decision-making in complex environment,an approach for picking manipulator location and behavior simulation integrating binocular stereo vision together virtual simulation technical was discussed.Firstly,the imaging of picking target and environment were gained by binocular stereo vision,secondly,the result data of picking target and environment after the imaging being handled were mapped into virtual environment,picking manipulator behavior decision-making and motion path planning were implemented by software simulation technical,picking manipulator accurate location was realized in virtual environment.Finally,the simulation motion data in virtual environment were transmitted to control motors at manipulator joint by USB interface,control motors drive manipulator moving automatically to the picking target position.The experimental platform was consisted of CCD stereo vision and simulation software,a location simulation system was developed by VC++ and EON SDK.

作者: Hongjun Wang Xiangjun Zou Changyu Liu Jun Lu Tianhu Liu

会议类型: 国际会议

会议名称: Asia Simulation Conference 2008/the 7th International Conference on System Simulation and Scientific Computing(2008亚洲仿真会议/第七届系统仿真和科学计算国际会议)(ICSC2008)

会议地点: 北京

会议语种:英文

在线出版日期: 2008-10-10（万方平台首次上网日期，不代表论文的发表时间）