Computer vision control of an underwater manipulator
Computer vision control of an underwater manipulator
复制标题
水下机械臂的计算机视觉控制
DOI：
10.1109/oceans.1994.363849
复制
发表时间：
1994
期刊：
影响因子：
--
通讯作者：
J. Lucas
中科院分区：
文献类型：
--
作者：
J.S. Smith;R. Yu;I. Sarafis;J. Lucas
本文描述了安装在六自由度遥控飞行器(Aquasphere)上的五自由度电动机械手的控制原理。操纵器的引导命令可以由操作者使用操纵杆提供，也可以由3D视觉系统提供，3D视觉系统可以确定对象的完整位置和方向。距离信息是由双光点激光三角测量系统产生的，该系统能够提供精度为/SPL+MN/2 mm的距离和位置信息。文中还讨论了一种基于飞行时间系统(TOF)的替代测距方法。使用Transputer作为处理元件来求解机械手所需的运动学逆解，而图像处理则使用了专用的硬件-Transputer混合系统。一旦车辆被放置在物体附近，通过使用视觉系统来定位然后自动引导机械手取回物体，整个系统就被演示了。
This paper describes the philosophy applied for the control of a five degree of freedom, electrically driven manipulator mounted on a six degree of freedom remotely operated vehicle (Aquasphere). Guidance commands for the manipulator could be provided either by the operator, using joysticks, or from a 3D vision system which could determine the full position and orientation of objects. The range information was generated by a dual spot laser triangulation system which was capable of providing range and location information to an accuracy of /spl plusmn/2 mm. An alternative range finder based upon the time of flight system (TOF) is also discussed. Transputers were used as the processing elements to solve the inverse kinematics required for the manipulator whilst a hybrid dedicated hardware-transputer system was used for the image processing. Once the vehicle was placed in the vicinity of the object the complete system was demonstrated by using the vision system to locate and then autonomously guide the manipulator to retrieve the object.<<ETX>>