机械手臂中心视觉自动校正方法研究  

Research on Vision Automatic Correction Method of Mechanical Arm Center

作　　者：陶丹丹[1] 赵迪[1] TAO Dandan;ZHAO Di(Department of Electric Power Engineering,Pingdingshan Industrial College of Technology,Pingdingshan Henan 467001,China)

机构地区：[1]平顶山工业职业技术学院电力工程学院

出　　处：《机床与液压》2019年第20期55-59,77,共6页Machine Tool & Hydraulics

摘　　要：为了提高机械手臂的运动精度需进行工具中心校正,但是采用自动校正方法需要经过多次重复校正才能得到工具中心的近似坐标值,而且准确度受到操作者的经验与技术的影响。为此,提出利用数个不平行摆放且轴线交于一点的影像传感器,配合视觉伺服完成工具中心点校正。首先,通过机械手臂参考坐标系3个轴向影像位置信息,获取机械手臂与影像传器的坐标转换关系。其次,依次利用各个影像传感器位置信息产生移动向量,使工具中心以不同姿态到达轴线交点取得校正参考点坐标信息。最后,利用校正参考点坐标信息求出工具中心点坐标。验证结果表明,采用所提出的方法可以快速且自动进行机械手臂工具中心点的校正。Tool center correction is required to improve the motion accuracy of the mechanical arm,however,the automatic calibration method requires multiple iterations to get the approximate coordinate values of the tool center,and accuracy is influenced by the operator’s ex-perience and technology.To this end,it was proposed to use several image sensors that were not placed in parallel and whose axes intersected at one point,cooperating with the visual servo to complete the center point correction of the tool.First,by the means of three axial image posi-tion information in the mechanical arm reference coordinate system,the coordinate conversion relationship between the mechanical arm and the image transmitter was obtained.Secondly,the motion vector was generated by sequentially using the position information of each image sensor,making the tool center move to the intersection point of the axis in different postures to obtain the corrected reference point coordinate information.Finally,the tool center point coordinates were obtained by using the corrected reference point coordinate informa-tion.The verification shows that the proposed method can be used to correct the center point of the mechanical arm quickly and automati-cally.

关 键 词：工具中心 视觉校正 坐标转换 D-H矩阵 多级边缘检测法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]