协作机械臂末端执行器的快速定位算法  

Fast Positioning Algorithm for End-effector of Cooperative Manipulator

作　　者：喻靖 江文松 罗哉 杨力 周根明 YU Jing;JIANG Wen-song;LUO Zai;YANG Li;ZHOU Gen-ming(School of Metrology and Test Engineering,China Jiliang University,Hangzhou,Zhejiang 310018,China;Zhejiang Keli Vehicle Control System Co.Ltd,Jiangshan,Zhejiang 324100,China)

机构地区：[1]中国计量大学计量测试工程学院,浙江杭州310018 [2]浙江科力车辆控制系统有限公司,浙江江山324100

出　　处：《计量学报》2021年第7期833-839,共7页Acta Metrologica Sinica

基　　金：国家重点研发计划(2017YFF0206306,2018YFF01012006,2019YFB2004900);国家自然科学基金(51675499,51927811);浙江省自然科学基金(LQ20E050016);浙江省重点研发计划(2020C01096)。

摘　　要：针对传统的协作机械臂末端执行器即时定位效果差的问题,采用AprilTag标签定位,提出一种基于几何学提取ROI的快速定位算法。该算法对宏观尺寸目标采用下采样方法搜索有效局部范围,建立几何约束提取边缘像素点,加速目标识别速度。为了验证所提出算法的有效性,设计了机械臂末端执行器的视觉定位系统实验。实验结果表明:该算法的角点检测相对误差平均值低于0.1 pixel,且检测速度提高至40帧/s,实现了对机械臂末端的快速定位。Aiming at the poor real-time positioning effect of the traditional cooperative manipulator end-effector,AprilTag tag positioning was adopted to propose a fast positioning algorithm based on geometry to extract ROI.The algorithm uses a downsampling method to search the effective local range for macro-size targets,and establishes geometric constraints to extract edge pixels to accelerate the speed of target recognition.In order to verify the effectiveness of the proposed algorithm,a visual positioning system experiment is designed for the end-effector of the manipulator.The experimental results show that the speed of the proposed algorithm is improved to 40 frame/s under the average relative error of corner detection is lower than 0.1 pixel.Therefore,the proposeed algorithm realizes the rapid positioning of the end of the manipulator.

关 键 词：计量学 末端执行器 协作机械臂 快速定位 单目视觉 AprilTag识别 下采样 图像处理 

分 类 号：TB92[一般工业技术—计量学] TP241.2[机械工程—测试计量技术及仪器]