...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>International Journal of Mechanical Engineering Education >Integration of vision and robot motion: a novel approach to teaching kinematics transformation using an industrial robot arm
【24h】

Integration of vision and robot motion: a novel approach to teaching kinematics transformation using an industrial robot arm

机译：视觉与机器人运动的整合：一种使用工业机器人手臂进行运动学转换的新颖方法

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

The paper reports on work carried out on an educational exercise for graduate and undergraduate students that aids the study of Denavit-Hartenberg (DH) programming, through a real application within a 'learning by doing' scheme. The work presented to students requires the integration of the motion of an industrial robot (ASEA IRB 6) with a camera vision system (Baxall CD9752); they are asked to develop software that will support: the motion of the robot arm, including forward and reverse kinematics; the detection of an object on a test table; the picking up of the object; and its move to a target position on another test table. To assess the experiment, students select seven random points in the active camera area to determine the difference between the actual location of the end-effector and the location calculated using two methods: the trigonometric solutions and the DH parameters. Students discover that the trigonometric technique gives better position accuracy than DH. The project forms an excellent practical exercise to enhance student learning.
机译：该论文报告了一项针对研究生和本科生的教育实践所开展的工作，该工作通过“边做边学”计划中的实际应用来帮助研究Denavit-Hartenberg（DH）编程。向学生展示的作品要求将工业机器人（ASEA IRB 6）的运动与摄像机视觉系统（Baxall CD9752）集成在一起；他们被要求开发软件来支持：机器人手臂的运动，包括前进和后退运动学；在测试台上检测物体；捡起物体；并移至另一张测试台上的目标位置。为了评估实验，学生在活动相机区域中选择七个随机点，以确定末端执行器的实际位置与使用两种方法（三角函数和DH参数）计算出的位置之间的差异。学生发现，三角技术比DH具有更好的位置精度。该项目是提高学生学习能力的极好的实践练习。

著录项

  • 来源
  • 作者

    S. Mekid; A. W. Labib; M. F. Rajemi; H. Frost;

  • 作者单位

    School of Mechanical Aerospace and Civil Engineering, University of Manchester, Manchester M60 1QD, UK,King Fahd University of Petroleum and Minerals, Mechanical Engineering Department Dhahran, 31261, KSA;

    University of Portsmouth, Portsmouth Business School, Portsmouth P01 3DE, UK;

    School of Mechanical Aerospace and Civil Engineering, University of Manchester, Manchester M60 1QD, UK;

    School of Mechanical Aerospace and Civil Engineering, University of Manchester, Manchester M60 1QD, UK;

  • 收录信息
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    forward and reverse kinematics; vision; robot motion;

    机译：正向和反向运动学;视力;机器人动作;

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号