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《Insulators and Surge Arresters》 2017-06
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Insulator Water Washing Robot Visual Servo Simulation

WU Wenhai;YAO Bo;YU Lanying;WANG Guozhi;College of Mechanical Engineering ,Southwest Jiao Tong University;  
Visual servoing research is an important content of insulator water washing robotics re-search,and the research results can be used for robot automatic aiming insulator. Image based visual ser-vo control scheme is used on the water washing robot,and the flushing image jacobian matrix of the robotis calculated. The calculation of the image depth is based on the robot location parameters and the heightinformation of insulator. The visual control system of washing robot is modeled and simulated based onRobotics Toolbox and Visual Servoing Toolbox,the results show that the robotic Visual servo systembased on image could aim insulator automatically.
【CateGory Index】: TP242
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