针对工作任务复杂或环境多变的情况下,单臂机器人不能很好地完成任务,对双臂机器人协调运动进行了研究,提出了一种基于图像的NAO机器人松协调运动的方法.首先对提出的Mark标记点的编码与解码方式进行了说明,解决了编码标记旋转后编码值不同的问题;分析了Mark标记点的视觉提取和识别及相对定位方法,NAO机器人左臂末端附有4个Mark点,右臂末端附有1个Mark点,利用NAO的下相机和1个外部相机构成视觉系统,并阐述了视觉控制的流程;最后通过仿真实验验证了松协调运动控制的效果.实验结果表明:NAO机器人能准确地识别标记点,并能够较好地完成松协调运动,可为工业应用中精度要求不高的松协调运动任务的实现提供参考.
Aiming at the problem of the single arm robot cannot perform well in complex tasks or varied environment conditions,the coordi-nated motion of dual-arm robot was studied. The method of the loose coordinated motion of the NAO robot based on image was proposed. The encoding and decoding methods of Mark marker proposed was described and the problem of different coding value after the rotated coding mark was solved. The visual extraction,recognition and relative positioning method of Mark markers was analyzed. The left arm of NAO robot was marked with four Mark points and the right arm was marked with one Mark point. The camera at the bottom of the NAO and an external camera made up the vision system and the visual control process was described. At last the effect of loose coordinated motion control was veri-fied by the simulation experiment. The results indicate that the NAO robot can accurately identify the marker and quite acceptably complete the loose coordinated motion and laid the foundation for the realization of loose coordinated motion task in industrial applications of low precision.