基于机器视觉的机器人装配位姿在线校正算法
|
董大钊,徐冠华,高继良,徐月同,傅建中
|
Online correction algorithm for posture by robot assembly based on machine vision
|
Da-zhao DONG,Guan-hua XU,Ji-liang GAO,Yue-tong XU,Jian-zhong FU
|
|
表 1 ${k}_{1}{\text{、}}{k}_{2}$的取值表 |
Tab.1 Value table of ${k}_{1}\;{\text{and}}\;{k}_{2}$ |
|
$\Delta ^{{\rm{b}}}x$ | $\Delta ^{ {\rm{b} } }{{y} }$ | ${k_1}$ | ${k_2}$ | $\Delta ^{{\rm{b}}}x\geqslant 0$ | $\Delta ^{ {\rm{b} } }{{y} }\geqslant 0$ | 0 | 1 | $\Delta ^{{\rm{b}}}x\geqslant 0$ | $\Delta ^{ {\rm{b} } }{{y} } < 0$ | 2 | −1 | $\Delta ^{{\rm{b}}}x < 0$ | $\Delta ^{ {\rm{b} } }{{y} }\geqslant 0$ | 1 | −1 | $\Delta ^{{\rm{b}}}x < 0$ | $\Delta ^{ {\rm{b} } }{{y} } < 0$ | 1 | 1 |
|
|
|