一种采用球面编号靶点的串联机械臂测量方法

刘洁; 平雪良; 齐飞; 蒋毅

doi:10.13433/j.cnki.1003-8728.2017.0320

一种采用球面编号靶点的串联机械臂测量方法

doi: 10.13433/j.cnki.1003-8728.2017.0320

1.
江南大学机械工程学院江苏省食品先进制造装备技术重点实验室, 江苏无锡 214122

基金项目:

国家自然科学基金项目（61305016）与江苏省科技支撑计划项目（BE2013003）资助

详细信息

作者简介:
刘洁(1989-),硕士研究生,研究方向为机器人测量与机器视觉,1181086323@qq.com

通讯作者:
平雪良(联系人),教授,硕士生导师,ping@jiangnan.edu.cn

计量
- 文章访问数: 262
- HTML全文浏览量: 35
- PDF下载量: 5
- 被引次数: 0
出版历程
- 收稿日期: 2015-08-28
- 刊出日期: 2017-03-05

A Measurement Method of Serial Manipulator Making Use of Spherical Numbered Targets

1.
Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering, Jiangnan University, Jiangsu Wuxi 214122, China

摘要

摘要: 为了在较大范围内获取高精度的机械臂末端实际位姿数据进行机械臂运动学模型真实参数的辨识，提出一种基于球面编号靶点的串联机械臂测量方法，利用双目视觉实时跟踪与末端法兰刚性连接的标准靶球，设置在球体表面的标志点依靠特殊的排列分布进行区分编号，球心坐标和靶球方向分别由任意捕捉的至少4个点和已知的空间几何位置关系根据克莱姆法则计算求得，在工作空间内任意运动机械臂进行末端靶球位姿测量。建立位姿误差模型，采用最小二乘法辨识出准确的几何参数，实现机械臂的误差校准。试验结果表明，此法具有较高的精度，克服了传统视觉系统定位跟踪的视野狭小，降低了机械臂末端位姿测量的成本，简单可靠，同时有效的提高了机械臂的定位精度。
- 空间几何 /
- 位姿测量 /
- 定位精度 /
- 双目视觉 /
- 串联机械臂
Abstract: To obtain a wide range of highly accurate actual pose data for identifying the accurate parameters of manipulator model, a measurement method of serial manipulator-end based on spherical numbered targets is presented. The standard target ball rigidly connected to the end flange is tracked by binocular vision, the marked-targets set on the sphere surface are distinguished and numbered by the particular arrangement and distribution. The coordinates and orientations of ball center are calculated by at least four marked-targets captured and the known space geometry position relation according to Cramer's rule. Manipulator is moved in the working space at will for pose measurement. The pose error model is built and accurate manipulator model geometric parameters are gained by using least squares method achieving the manipulator error calibration. The experiments show that the results are accurate and the proposed method can solve the problem of narrow vision field of the binocular camera when traditional vision system is tracking and it reduces the cost of position and orientation measurements of manipulator-en. The present method is simple and reliable, and it effectively improves the positioning accuracy of manipulator.
- space geometry /
- pose measurement /
- positioning accuracy /
- binocular vision /
- serial manipulator

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参考文献(16)

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