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

doi:10.11908/j.issn.0253-374x.19316

Home > Archive>Volume 48, Issue 7, 2020 >1023-1029. DOI:10.11908/j.issn.0253-374x.19316

Design of a Vision Calibration Method of Kinematic Parameters for 6-DoF Manipulator
DOI:
                        10.11908/j.issn.0253-374x.19316
                    
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                        CHEN Qijun1CHEN Qijun
College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China
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ZHOU Ziqiang1ZHOU Ziqiang
College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China
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LIU Chengju1LIU Chengju
College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China
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SUN Xiaoxian1SUN Xiaoxian
College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China
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ZHANG Xue1ZHANG Xue
College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China
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Affiliation:College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China
Clc Number:TP241.2
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Abstract:

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.

Key words:kinematic calibration;monocular vision;two-step measurement method;positional error

Reference

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CHEN Qijun, ZHOU Ziqiang, LIU Chengju, SUN Xiaoxian, ZHANG Xue. Design of a Vision Calibration Method of Kinematic Parameters for 6-DoF Manipulator[J].同济大学学报(自然科学版),2020,48(7):1023~1029

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Received:August 04,2019
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