| A Hand-Eye Vision Measuring System for Articulate Robots |
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| 作者姓名： | 岁波 都东 陈强 韩翔宇 王力 张骅 |
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| 作者单位： | DepartmentofMechanicalEngineering,TsinghuaUniversity,Beijing100084,China |
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| 基金项目： | Supported by the National Natural Science Foundation of China ( No. 50275083) and the Teaching and Research Award Program for Outstanding Young Teachers in Higher Education Institutions of the Ministry of Education，China |
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| 摘 要： | To make dynamic measurements for an articulate robot, a hand-eye vision measuring system is built up. This system uses two charge coupled device (CCD) cameras mounted on the end-effector of the robot. System analysis is based on the stereovision theory and line-matching technology, using a computer to evaluate the dynamic performance parameters of an articulate robot from the two images captured by the two cameras. The measuring procedure includes four stages, namely, calibration, sampling, image processing, and calculation. The path accuracy of an articulate industrial robot was measured by this system. The results show that this system is a low-cost, easy to operate, and simple system for the dynamic performance testing of articulate robots.
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| 关 键 词： | 连接机器人 手眼视觉测量系统 路径精确度 负载耦合设备 工业机器人 |
A Hand-Eye Vision Measuring System for Articulate Robots |
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| SUI Bo,DU Dong ,CHEN Qiang HAN Xiangyu,WANG Li ,ZHANG Hua.A Hand-Eye Vision Measuring System for Articulate Robots[J].Tsinghua Science and Technology,2004,9(3):356-362. |
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| Authors: | SUI Bo DU Dong CHEN Qiang HAN Xiangyu WANG Li ZHANG Hua |
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| Institution: | SUI Bo,DU Dong **,CHEN Qiang HAN Xiangyu,WANG Li ),ZHANG Hua Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China |
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| Abstract: | To make dynamic measurements for an articulate robot, a hand-eye vision measuring system is built up. This system uses two charge coupled device (CCD) cameras mounted on the end-effector of the robot. System analysis is based on the stereovision theory and line-matching technology, using a computer to evaluate the dynamic performance parameters of an articulate robot from the two images captured by the two cameras. The measuring procedure includes four stages, namely, calibration, sampling, image process-ing, and calculation. The path accuracy of an articulate industrial robot was measured by this system. The results show that this system is a low-cost, easy to operate, and simple system for the dynamic performance testing of articulate robots. |
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| Keywords: | hand-eye vision measuring system path accuracy articulate robot |
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