| 柔性再制造测量机器人建模 |
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| 引用本文： | 李爱国,王文标,吴德烽.柔性再制造测量机器人建模[J].大连海事大学学报(自然科学版),2010,36(3). |
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| 作者姓名： | 李爱国 王文标 吴德烽 |
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| 作者单位： | 大连海事大学,信息科学技术学院,辽宁,大连,116026 |
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| 基金项目： | 中央高校基本科研业务费专项资金资助项目 |
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| 摘 要： | 为解决缺损工件的再制造测量问题,用配备线结构光测头的6自由度工业机器人和旋转平台组成一个7自由度测量系统,利用齐次坐标变换理论建立测量系统的数学模型.通过定点变位姿法计算测头和机器人末端的坐标变换,利用高低球法确定旋转平台的旋转轴.实测结果验证了该模型的准确性.
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| 关 键 词： | 再制造 结构光视觉 外参数标定 旋转轴标定 |
Modeling of a robot-based measuring system for remanufacturing |
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| LI Aiguo,WANG Wenbiao,WU Defeng.Modeling of a robot-based measuring system for remanufacturing[J].Journal of Dalian Maritime University,2010,36(3). |
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| Authors: | LI Aiguo WANG Wenbiao WU Defeng |
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| Institution: | LI Aiguo,WANG Wenbiao,WU Defeng(Information Science , Technology College,Dalian Maritime University,Dalian 116026,China) |
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| Abstract: | To resolve the measurement problem of remanufacturing workpieces,a seven degrees of freedom(DOF) platform composed of a rotary table and 6 DOF industrial robots with line-structured-light vision scanner was established.A mathematic model for the measuring system was made by using homogeneous coordinate transform principle,and the transformation from the robot hand to the scanner was determined by measuring a fixed point from different poses.The method for calibrating rotary axis was also given.The accuracy ... |
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| Keywords: | remanufacture structured-light vision extrinsic parameter calibration rotary axis calibration |
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