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