基于双目立体视觉的虚拟机械臂运动研究
Research of Motion for Virtual Manipulator Based on Binocular Stereo Vision
以6自由度的工业机器人PUMA560为原型，开发了一套基于双目立体视觉的虚拟机械臂运动仿真系统。仿真平台通过双目视觉系统获得空间指定点的三维坐标，进行运动学反解，从而实现虚拟机械臂的运动仿真。采用基于VC++，OpenCV和OpenGL构建的仿真平台，进行了运动仿真实验，实验结果达到了一定的精度。
his paper takes the 6 DOF industry robot PUMA560 as a prototype. A motion simulation system for virtual manipulator based on binocular stereo vision is developed. The system obtains 3D coordinate of specified point with binocular stereo vision, and inverse kinematics solution is gotten to achieve motion simulation. The simulation platform is developed by VC++ ，OpenCV and OpenGL. The motion simulation experiment is done and certain precision is obtained.
张会文、付明亮
自动化技术、自动化技术设备机械学计算技术、计算机技术
立体视觉虚拟机械臂OpenCVOpenGL
Stereo visionVirtual manipulatorOpenCVOpenGL
张会文,付明亮.基于双目立体视觉的虚拟机械臂运动研究[EB/OL].(2015-02-05)[2025-08-02].http://www.paper.edu.cn/releasepaper/content/201502-63.点此复制
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