主动视觉监测平台机械误差矫正方法研究

Study on Mechanical Error Correction Method on Binocular Active Visual Monitoring Platform

为解决并联机器人盲工作状态,建立了双目主动视觉监测平台(binocular active visual moni-toring platform,BAVMP)。它是一种基于圆形导轨的并联机器人工作空间监测机制。为克服视觉主动性给BAVMP带来的机械误差,提出了分解动作补偿法。仿真实验表明理论计算误差值与实际误差值基本一致,表明该方法是有效的。根据所得误差值,利用空间已知点和视觉反求原理对BAVMP中摄像机的实际位置进行了实时矫正,使BAVMP对空间目标监测更加精确有效。

A new binocular active visual monitoring platform（BAVMP） was built to solve the ＂blind＂ working status of parallel robot.This platform was a working-space monitoring mechanism of parallel robot based on circular guide rail.In order to correct the accumulation of mechanical errors caused by active visual of cameras,the method of dissembling actions correction was proposed.Results show that the method is effective,and simulation errors are also in good agreement with experimental ones.The method has utilized the given points of world coordinate and the principle of visual reverse solution to correct mechanical error in real-time.It makes the monitoring accuracy higher on BAVMP.