耳温计检定系统机械臂位姿自动修正方法研究OACSTPCD

In allusion to the problem of random deviation of mechanical positioning in the automatic ear thermometer calibration system,an automatic correction algorithm of mechanical arm pose based on machine vision is proposed.In the reference position of the thermostat tank,the reference coordinate system for the movement of the mechanical arm is established,and the operation path action of the mechanical arm is designed under this coordinate system.During the operation of the system,the transformation matrix is generated by locating the feature pattern on the thermostat tank to generate a new reference coordinate system.The robotic arm can take photos in a new reference coordinate system,to deduce the deviation value of the transformation matrix,and iteratively update it.By correcting the reference coordinate system for the motion of the robotic arm,the three-dimensional operation pose of the robotic arm is corrected.The experimental results show that the positioning accuracy of the proposed algorithm for three planes on the constant temperature bathcan reach within 0.5 mm,providing a new approach for visual guidance in similar scenarios.