This paper theoretically analyzes and researches the coordinate frames of a 3D vision scanning system, establishes the mathematic model of a system scanning process, derives the relationship between the general non-or...This paper theoretically analyzes and researches the coordinate frames of a 3D vision scanning system, establishes the mathematic model of a system scanning process, derives the relationship between the general non-orthonormal sensor coordinate system and the machine coordinate system and the coordinate transformation matrix of the extrinsic calibration for the system.展开更多
为了提高工业机器人作业柔性,本文提出了一种基于双目CCD激光扫描3D成像的“眼在外”(Eye-tohand:ETH)工业机器人末端(tool center point,TCP)运动轨迹在线修正方法。以激光切割机器人视觉引导为研究背景,降低加工过程机器人对物理工装...为了提高工业机器人作业柔性,本文提出了一种基于双目CCD激光扫描3D成像的“眼在外”(Eye-tohand:ETH)工业机器人末端(tool center point,TCP)运动轨迹在线修正方法。以激光切割机器人视觉引导为研究背景,降低加工过程机器人对物理工装定位精度的依赖。首先,为提高机器人视觉控制精度,研究了目标工件双目3D激光扫描成像空间点云坐标精确提取方法;其次,融合ETH控制特点和扫描成像系统结构,建立了一种机器人TCP运动轨迹相对偏差在线补偿方法,并通过实验验证了所提方法的可行性,为工业应用奠定基础。展开更多
文摘This paper theoretically analyzes and researches the coordinate frames of a 3D vision scanning system, establishes the mathematic model of a system scanning process, derives the relationship between the general non-orthonormal sensor coordinate system and the machine coordinate system and the coordinate transformation matrix of the extrinsic calibration for the system.
文摘为了提高工业机器人作业柔性,本文提出了一种基于双目CCD激光扫描3D成像的“眼在外”(Eye-tohand:ETH)工业机器人末端(tool center point,TCP)运动轨迹在线修正方法。以激光切割机器人视觉引导为研究背景,降低加工过程机器人对物理工装定位精度的依赖。首先,为提高机器人视觉控制精度,研究了目标工件双目3D激光扫描成像空间点云坐标精确提取方法;其次,融合ETH控制特点和扫描成像系统结构,建立了一种机器人TCP运动轨迹相对偏差在线补偿方法,并通过实验验证了所提方法的可行性,为工业应用奠定基础。
