实验科学与技术2026，Vol.24Issue(1)：38-45,60,9.DOI:10.12179/1672-4550.20240561
三维视觉引导的机器人柔性运动平台研制
Development of a 3D Vision-Guided Robot Flexible Motion Platform
摘要
Abstract
A 3D vision-guided robot flexible motion platform was constructed,and control software based on the ROS 2 architecture was developed.The basic functions of the platform were tested,achieving robot flexible motion guided by 3D vision.In this platform,3D reconstruction and point cloud registration are realized through the collaboration of a binocular structured light camera and a turntable.Point,line,and surface information of the workpiece is identified using the Random Sample Consensus Algorithm.High-precision motion paths for the robot are planned according to preset tasks,and online motion control is achieved via the TCP/IP protocol.The platform can be used for experimental teaching in mechanical and electrical majors,conducting comprehensive experiments on robot 3D vision coordinate system calibration.It also serves as a research and development platform for 3D vision algorithms and robot path planning algorithms.关键词
三维视觉/机器人/柔性运动/路径规划/ROS 2Key words
3D vision/robot/flexible motion/path planning/ROS 2分类
信息技术与安全科学引用本文复制引用
王郑拓,林志伟,徐冠华..三维视觉引导的机器人柔性运动平台研制[J].实验科学与技术,2026,24(1):38-45,60,9.基金项目
"尖兵""领雁"研发攻关计划(2023C01059). （2023C01059）
