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机器人测量系统的联合校准方法
Lei Wu1, Xizhe Zang1, Guanwen Ding1
1State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China.
Sensors (Basel, Switzerland)
|September 9, 2023
概括
本研究引入了机器人测量系统的联合校准方法,显著提高了准确性. 这种新方法可以将定位错误减少90%以上,以精确测量工件.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计量学 计量学 计量学
- 计算机视觉 计算机视觉
背景情况:
- 使用3D摄像头的机器人测量系统对于工件检查至关重要.
- 由于机器人动力学,摄像头安装和3D摄像头错误,测量准确性受到损害.
- 这些因素的校准不完整会导致严重的不准确性.
研究的目的:
- 为机器人测量系统开发一个全面的联合校准方法.
- 解决和整合来自机器人动力学,相机对机器人安装和3D相机测量的错误.
- 为了提高机器人检查应用中的整体测量精度.
主要方法:
- 使用李代数制定了机器人动力学和摄像机到机器人安装错误模型.
- 为3D相机开发了一种新的枕头错误模型.
- 使用同质转换构建了一个联合错误模型,并通过逐步优化解决.
主要成果:
- 通过模拟和实验,显著提高了测量准确度.
- 从超过2.5228毫米的平均定位误差减少到0.2629毫米.
- 从超过0.1488毫米的平均距离误差降低到0.1232毫米.
结论:
- 拟议的联合校准方法有效地提高了机器人测量系统的准确性.
- 李代数和枕头错误模型的整合提供了一个强大的解决方案.
- 这种方法为精确的工件形状和位置测量提供了显著的改进.
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