Vision-Guided Robot Control for 3D Object Recognition and Manipulation

摘要

Research into a fully automated vision-guided robot for identifying, visualising and manipulating 3D objects with complicated shapes is still undergoing major development world wide. The current trend is toward the development of more robust, intelligent and flexible vision-guided robot systems to operate in highly dynamic environments. The theoretical basis of image plane dynamics and robust image-based robot systems capable of manipulating moving objects still need further research. Research carried out in our group has been focused on the development of more robust image processing methods and adaptive control of robot. Our research has been focused on manufacturing automation and medical surgery (Graham, Xie et al. 2007), with the main issues being the visual feature tracking, object recognition and adaptive control of the robot that requires both position and force feedback. The developed vision-guided robot system is able to recognise general 2D and 3D objects using a CCD camera and the VisionPro software package. Object recognition algorithms were developed to improve the performance of the system and a user interface has been successfully developed to allow easy operation by users. Intensive testing was performed to verify the performance of the system and the results show that the system is able to recognise 3D objects and the restructured model is precise for controlling the robot. The kinematics model of the robot has also been validated together with the robot control algorithms for the control of the robot.