Research on Intelligent Robot System with Real-time 3D Visual Feedback

我们最后一年的研究工作主要是将视觉服务器、操作单元和编程环境集成到一个单一的智能机器人系统中。主要研究结果有：1。目前所开发的视觉硬件的基本系统软件进行了增强和更新。视觉硬件作为服务器安装在网络机器人系统中。实现了摄像机参数的自动标定、双目图像线段立体匹配的DP技术、多窗口机器人视觉系统的实时视觉跟踪。开发了用于移动并联机械臂、末端执行器和摄像单元的直角型双机械臂单元。单元控制器也被安装为网络的一个节点。面向对象的Lisp系统已经扩展和更新，因为它涉及到视觉服务器、操纵单元和实体建模器。该系统为开发视觉-动作融合任务提供了非常灵活的编程环境。对推入操作进行了实时视觉跟踪和视觉反馈控制实验。COSMOS-II集成系统的实时三维视觉反馈功能为视觉动作融合任务的研究提供了非常灵活友好的编程环境。

Our research effort of the final year was devoted mainly to integrate the vision server, the manipulation cell, and the programming environment into a single intelligent robot system. Major results are:1. The basic system software of the vision hardware developed so far has been enhanced and updated. The vision hardware is installed as an server in the network baded robot system. Automatic calibration of camera parameters, DP based techique on stereo matching of line segments in binocular images, real-time visual trackers employing multi-window robot vision system, have been implemented.2. The Cartesian type dual manipulator cell is developed for moving a parallel manipulator, end effectors, and camera unit. The cell controller is also installed as a node of the network.3. The object oriented Lisp system has been extended and updated as it involves the vision server, manipulator cell, and solid modeller. The system provides us very flexible programming environment for developing vision-action fusion tasks.4. Experiments on real time visual tracking, and visual feedback control on pushing operations are attempted. The facility of the real time 3D visual feedback in the integrated system COSMOS-II provides very flexible and friendly programming environment for the research on the tasks for vision action fusion.