| 基于双目立体视觉的弧焊机器人标定研究 |
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| 引用本文： | 蔡广宇,吴刚. 基于双目立体视觉的弧焊机器人标定研究[J]. 南阳理工学院学报, 2009, 1(6): 5-8 |
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| 作者姓名： | 蔡广宇 吴刚 |
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| 作者单位： | 南阳理工学院,河南,南阳,473004;南阳理工学院,河南,南阳,473004 |
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| 基金项目： | 河南省杰出青年科学基金，河南省重点科技攻关项目 |
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| 摘 要： | 根据弧焊机器人本体的实际结构,通过分析机器人基坐标系、双目立体视觉系统坐标系及空间特征点坐标系的几何对应关系,采用双目立体视觉测量方法测得机器人各关节几何参数误差,并对相应的参数误差进行了补偿。结果显示,误差补偿后的机器人直线轨迹的精度有了大幅提高。
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| 关 键 词： | 机器人 误差 标定 立体视觉 |
RESEARCH ON ARC WELDING ROBOT CALIBRATION BASED ON BINOCULAR STEREO VISION |
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| CAI Guang-yu,WU Gang. RESEARCH ON ARC WELDING ROBOT CALIBRATION BASED ON BINOCULAR STEREO VISION[J]. Journal of Nanyang Institute of Technology, 2009, 1(6): 5-8 |
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| Authors: | CAI Guang-yu WU Gang |
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| Affiliation: | ( Nanyang Institute of Technology,Nanyang 473004,China) |
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| Abstract: | According to the actual structure of arc welding robot,this paper analyzed the geometry corresponding relationships of the robot base coordinate system and the binocular stereo vision system coordinate system and the spatial characteristic point coordinate system,obtained the robot various joints geometric parameter error by using the measuring technique based on binocular stereo vision,and compensated the corresponding parameter error of robot. The result showed that the precision of robot straight path had enhanced largely after the error had been compensated. |
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| Keywords: | Robot Error Calibration Stereo vision |
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