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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。
Aiming at the problem that robot positioning errors affect the accuracy of flexible vision measurement, the robot positioning error compensation method based on vision technology is studied. A single directional camera is attached to the sensor, a global control point is set in the sensor measurement scene, and a control point is measured by the directional camera to obtain real-time conversion relationship with the global coordinate system under the current position of the sensor to compensate for the positioning error of the robot. Due to the low accuracy of direct application compensation, the reasons and characteristics of robot positioning error are improved, and the compensation method is improved. The angle parameter is regarded as the known quantity and only the displacement variable is optimized. The experimental results show that the RMSE of the single-camera compensation method is 3.422mm, the RMSE of the improved method is better than 0.10mm. The improved single-camera compensation method effectively improves the sensor positioning accuracy. The model is simple, the method is feasible, To meet the robot positioning error compensation accuracy requirements.