机械科学与技术2017，Vol.36Issue(3)：448-454,7.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
A Measurement Method of Serial Manipulator Making Use of Spherical Numbered Targets
摘要
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 resuhs 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.关键词
空间几何/位姿测量/定位精度/双目视觉/串联机械臂Key words
space geometry/pose measurement/positioning accuracy/binocular vision/serial manipulator分类
数理科学引用本文复制引用
刘洁,平雪良,齐飞,蒋毅..一种采用球面编号靶点的串联机械臂测量方法[J].机械科学与技术,2017,36(3):448-454,7.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 （61305016）
