针对内埋舱武器性能鉴定试飞中机弹分离相对位姿测量需求,提出了一种基于高速影像的内埋舱武器分离位姿测量方法。通过加装带有弯管镜头的高速摄像机阵列,实现内埋弹舱狭小空间内弹体分离全过程高速影像数据的分段获取;采用结合机载空...针对内埋舱武器性能鉴定试飞中机弹分离相对位姿测量需求,提出了一种基于高速影像的内埋舱武器分离位姿测量方法。通过加装带有弯管镜头的高速摄像机阵列,实现内埋弹舱狭小空间内弹体分离全过程高速影像数据的分段获取;采用结合机载空间参考点不确定性的相机外参解算、基于You Only Look Once version 8(YOLOv8)的标志点智能检测、基于边缘灰度梯度正交迭代的十字标中心坐标自动提取、直线约束下的多视角非交叠影像测量等方法,实现机载高速摄像机分布快速标定、小视场成像条件下弹体表面标志点亚像素坐标自动提取、机载高速摄像机抖动下的外参动态修正以及武器分离相对位姿分段测量等功能。经地面试验验证,该方法位置解算均方根误差不大于2 mm,满足飞行试验测试精度要求。展开更多
The paper is devoted to the elastostatic calibration of industrial robots,which is used for precise machining of large-dimensional parts made of composite materials.In this technological process,the interaction betwee...The paper is devoted to the elastostatic calibration of industrial robots,which is used for precise machining of large-dimensional parts made of composite materials.In this technological process,the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism.To estimate parameters of this model,an advanced calibration technique is applied that is based on the non-linear experiment design theory,which is adopted for this particular application.In contrast to previous works,it is proposed a concept of the user-defined test-pose,which is used to evaluate the calibration experiments quality.In the frame of this concept,the related optimization problem is defined and numerical routines are developed,which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments.Some specific kinematic constraints are also taken into account,which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment.The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.展开更多
文摘针对内埋舱武器性能鉴定试飞中机弹分离相对位姿测量需求,提出了一种基于高速影像的内埋舱武器分离位姿测量方法。通过加装带有弯管镜头的高速摄像机阵列,实现内埋弹舱狭小空间内弹体分离全过程高速影像数据的分段获取;采用结合机载空间参考点不确定性的相机外参解算、基于You Only Look Once version 8(YOLOv8)的标志点智能检测、基于边缘灰度梯度正交迭代的十字标中心坐标自动提取、直线约束下的多视角非交叠影像测量等方法,实现机载高速摄像机分布快速标定、小视场成像条件下弹体表面标志点亚像素坐标自动提取、机载高速摄像机抖动下的外参动态修正以及武器分离相对位姿分段测量等功能。经地面试验验证,该方法位置解算均方根误差不大于2 mm,满足飞行试验测试精度要求。
文摘The paper is devoted to the elastostatic calibration of industrial robots,which is used for precise machining of large-dimensional parts made of composite materials.In this technological process,the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism.To estimate parameters of this model,an advanced calibration technique is applied that is based on the non-linear experiment design theory,which is adopted for this particular application.In contrast to previous works,it is proposed a concept of the user-defined test-pose,which is used to evaluate the calibration experiments quality.In the frame of this concept,the related optimization problem is defined and numerical routines are developed,which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments.Some specific kinematic constraints are also taken into account,which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment.The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.
