中文摘要：

对水果采摘机械手空间定位机理进行了研究,分析了双目立体视觉系统的定位误差并建立视觉误差补偿机制,利用虚拟机械手开发软件和CCD视觉硬件构建了仿真系统,通过双目立体视觉获取空间位置数据映射到虚拟环境下引导机械手进行模拟采摘。该系统利用多领域知识融合实现了采摘机构与视觉关联精确定位的仿真,能有效地指导实际作业环境中采摘机械手精确定位的优化设计。

英文摘要：

The operation mechanism of fruit picking manipulator spatial location is studied,it analyses the location error of binocular stereo vision system and establishes the visual error compensation mechanism.Virtual robot development software and the CCD visual hardware are used to constitute simulation system,the spatial location data obtained by stereo vision is mapped to the virtual environment to achieve the spatial precision positioning.The simulation system uses multi-field knowl-edge fusion to realize picking machine precise positioning simulation associated with vision,it can effectively guide the opti-mization design of picking robot precise positioning in practical operating environment.