基于双目视觉的工业机器人运动轨迹准确度检测

PATH ACCURACY MEASUREMENT OF INDUSTRIAL ROBOT BASED ON BINOCULAR VISION

针对工业机器人运动轨迹准确度检测困难的问题,提出了一种基于双目视觉理论的检测方法。根据空间解析几何学中点、线和面三者之间的约束关系,建立了基于直线特征匹配的工业机器人运动轨迹位姿视觉检测模型。基于此模型对一种典型六轴工业机器人运动轨迹的位置偏差和姿态偏差进行了测量。测量结果表明采用这种方法的测量系统结构相对简单,能够方便地进行工业机器人动态轨迹准确度的测量。

Aiming at the difficulties in measuring path accuracy of industrial robots, a sensing method based on binocular vision theory is presented. The restriction among point, line and plane in 3D-space are used to get the trajectory pose accuracy measurement model, which is based on line matching technology. Based on this model, the path position deviation and path orientation deviation of an industrial robot are measured. The experimental results indicate that this measuring system is both simple in structure and convenient for the measurement of dynamic path accuracy of industrial robots.