基于目标跟踪的并联机器人视觉位姿检测-计算机工程.pdf

35 18 2009 9 Vol.35 No.18 Computer Engineering September 2009 ·· 2009 A TP391 1 1,2 1 1 (1. 201620 2. 201620) 4 Haar Haar Vision Pose Measurement for Parallel Robot Based on Object Tracking 1 1,2 1 1 CHEN Jian-lin , DING Yong-sheng , HAO Kuang-rong , ZHANG Shu-ping (1. College of Information Sciences and Technology, Donghua University, Shanghai 201620; 2. Engineering Research Center of Digitized Textile Fashion Technology, Ministry of Education, Donghua University, Shanghai 201620) AbstractThis paper presents a vision based feedback system framework of position and orientation measurement for parallel robot. It is composed of image acquisition, camera calibration, position and orientation measurement, and parameter feedback. Single camera is used for image acquisition. A kind of 2-DOF parallel robot is used as control object, and Haar-like feature detection is presented as a method of rough object tracking. In order to acquire the real parameters based on invariants of trapezia, the special feature points on the object are determined. An inverse-kinematics of robot is used to get the control signals of every motor. And the feasibility of the system is proved by simulation experiments. Key wordsHaar feature; 2-DOF parallel robot; pose measurement 1