Design of a Vision Calibration Method of Kinematic Parameters for 6-DoF Manipulator

被引：0
|
作者：
Chen Q. [1 ]
Zhou Z. [1 ]
Liu C. [1 ]
Sun X. [1 ]
Zhang X. [1 ]
机构：
[1] College of Electronics and Information Engineering, Tongji University, Shanghai
来源：
| 1600年 / Science Press卷 / 48期
关键词：
Kinematic calibration; Monocular vision; Positional error; Two-step measurement method;
D O I：
10.11908/j.issn.0253-374x.19316
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
A novel low-cost monocular vision based robot end pose measurement method was proposed, and the kinematic parameters identification of a 6-DOF manipulator was designed and implemented. By using the hierarchical measurement method and the absolute coding method with calibration plate, the problems such as the small measurement range and the large influence of the camera distortion on the measurement accuracy in the current visual measurement process were solved. The robot calibration process was simplified by using the kinematic parameter identification model based on position error and monocular vision measurement system. Finally, the practicability and effectiveness of the proposed scheme were verified by experiments. © 2020, Editorial Department of Journal of Tongji University. All right reserved.
引用
收藏
页码：1023 / 1029
页数：6
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