基于双目立体视觉的弧焊机器人标定研究

RESEARCH ON ARC WELDING ROBOT CALIBRATION BASED ON BINOCULAR STEREO VISION

根据弧焊机器人本体的实际结构,通过分析机器人基坐标系、双目立体视觉系统坐标系及空间特征点坐标系的几何对应关系,采用双目立体视觉测量方法测得机器人各关节几何参数误差,并对相应的参数误差进行了补偿。结果显示,误差补偿后的机器人直线轨迹的精度有了大幅提高。

According to the actual structure of arc welding robot,this paper analyzed the geometry corresponding relationships of the robot base coordinate system and the binocular stereo vision system coordinate system and the spatial characteristic point coordinate system,obtained the robot various joints geometric parameter error by using the measuring technique based on binocular stereo vision,and compensated the corresponding parameter error of robot. The result showed that the precision of robot straight path had enhanced largely after the error had been compensated.