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tong yong xing shou - yan shi duo guan jie ji qi ren shi jue xi tong wu xiang guan xi de yan jiu
Author(s): 
Pages: 1-7
Year: Issue:  3
Journal: Robot

Keyword:  robotrobot visionweld;
Abstract: This paper studies in particular the relationships between the following three CS(coordinates systems) in a vi-sion system of a general multi-joint"hand-eye" robot: (1) CS of the base; (2) CS of the object; (3) CS of the image.By utilizing the projection transformation and mapping etc. as mediums, we derived out some mathematical rela-tions between the camera image point and corresponding space point in a "hand-eye" robot system. Meanwhileabout fixed type some explorations have also been made. A simple and practical algorithm has been derived out for acurrately and quickly leading the robot to properpoint in space.
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