摘要
针对机器人定位误差影响柔性视觉测量精度问题,研究了基于视觉技术的机器人定位误差补偿方法。在传感器上附加单个定向相机,在传感器测量场景中设置全局控制点,通过定向相机测量控制点,实时获取传感器当前位置下与全局坐标系的转换关系,补偿机器人定位误差。由于直接应用补偿精度低,针对机器人定位误差产生的原因和特点,改进补偿方法,将角度参数作为已知量,仅优化位移变量。实验结果表明,单相机补偿方法均方根误差(RMSE)为3.422mm,改进方法的RMSE优于0.10mm,改进后的单相机补偿方法有效地提高了传感器定位精度,模型简单,方法可行,能够满足机器人定位误差补偿的精度要求。
Facing the precision problem in flexible vision measurement caused by positioning error of robot ,this paper studies a new method based on vision technique to compensate the industrial robotrs positioning error. Optical control points and two large field cameras are separately set on and behind the vision sensor to real-timely measure the position of the vision sensor,then to compensate the positioning error of robot. Dual-camera method s precision is high, but itr s difficult to guarantee intervisibility in practical application. A single orientation camera is attached to sensor, and global control points are set in the measured field of the sensor. The global control points are measured by orientation camera to obtain the transformation relation between the current position of sensor and the global coordinate system, finally to compensate the positioning error. But the compensation precision is low in direct application. According to the source and features of error, this paper improves the compensation method. By regarding angle parameter as a known quantity, we only optimize the displacement variables. Experiment results show that the root-mean-square error （RMSE） of single camera compensation method is 3. 422 ram, while that of improved method is less than 0. 1 rnm. The improved compensation method enhances sen- sorts positioning precision. Because of its＇simple model and feasibility, it can satisfy the precision requirement for compensation of industrial robot.
出处
《光电子．激光》
EI
CAS
CSCD
北大核心
2013年第4期746-750,共5页
Journal of Optoelectronics·Laser
基金
国家自然科学基金重点(50805105)资助项目
关键词
工业精密测量
柔性视觉测量
工业机器人
定位误差补偿
单相机补偿
industrial precision measurement flexible vision measurement industrial robot positioningerror compensation single camera compensation
