摘要
提出一种新型低成本的基于单目视觉的机器人末端位姿测量方法,设计并实现了六自由度机械臂的运动学参数辨识。采用分级测量方法和标定板绝对编码方法,解决了当前视觉测量过程中测量范围小、测量精度受相机畸变影响大等问题;使用基于位置误差的运动学参数辨识模型和单目视觉测量系统,简化了机器人的标定过程。最后,通过实验验证了方案的实用性和有效性。
A novel low-cost monocular vision based robot end pose measurement method was proposed,and the kinematic parameters identification of a 6-DOF manipulator was designed and implemented.By using the hierarchical measurement method and the absolute coding method with calibration plate,the problems such as the small measurement range and the large influence of the camera distortion on the measurement accuracy in the current visual measurement process were solved.The robot calibration process was simplified by using the kinematic parameter identification model based on position error and monocular vision measurement system.Finally,the practicability and effectiveness of the proposed scheme were verified by experiments.
作者
陈启军
周自强
刘成菊
孙晓娴
张雪
CHEN Qijun;ZHOU Ziqiang;LIU Chengju;SUN Xiaoxian;ZHANG Xue(College of Electronics and Information Engineering,Tongji University,Shanghai,201804,China)
出处
《同济大学学报(自然科学版)》
EI
CAS
CSCD
北大核心
2020年第7期1023-1029,共7页
Journal of Tongji University:Natural Science
基金
国家自然科学基金(61673300,61733013)
上海市基础研究项目(18DZ1200804)。
关键词
运动学参数标定
单目视觉
分级测量
位置误差
kinematic calibration
monocular vision
two-step measurement method
positional error