基于双目视觉距离误差测量的工业机器人运动学标定方法  

Kinematic Calibration of Industrial Robots Based on Binocular Vision Distance Error Measurement

作　　者：江小辉[1] 李栩翔 孙翼飞 朱豪杰 JIANG Xiaohui;LI Xuxiang;SUN Yifei;ZHU Haojie(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《计量学报》2024年第10期1470-1479,共10页Acta Metrologica Sinica

基　　金：上海市科委政府间国际合作(23190712100)。

摘　　要：针对机器人标定中存在的成本昂贵以及应用生产中末端精度低问题,提出了一种基于双目视觉距离误差测量的工业机器人运动学标定方法。首先,进行双目相机标定和畸变矫正,通过双目视觉测量模型计算匹配特征点的距离并提出三维空间坐标的双目视差空间位置匹配策略。其次,以机器人运动学模型为基础,引入微分算子建立机器人微分运动模型,建立机器人运动学误差模型,得出机器人各个关节的运动学参数与机器人末端位置误差之间的关系。最后,以IRB1200机器人为研究对象,对比分析应用高精度激光跟踪仪与双目视觉测量方法得到的距离误差和位置误差,两者误差均在10^(-1)mm级别,满足距离误差和位置误差测量要求,且经多种优化算法对机器人进行运动学标定后,其距离误差比优化前平均降低了61.5%。基于双目视觉距离误差测量工业机器人运动学标定方法可有效提高机器人末端精度,降低标定成本。Aiming at the high cost and low end precision of robot calibration in the production process,a kinematic calibration method for industrial robots based on binocular vision distance error measurement is proposed.Firstly,we performed binocular camera calibration and distortion correction,then calculated the distance of matching feature points based on a binocular vision measurement model,and proposed a binocular disparity spatial position matching strategy in 3D spatial coordinates.Secondly,based on the robot kinematic model,the differential operator is introduced to establish the robot differential motion model and the robot kinematic error model,and then we obtained the relationship between the kinematic parameters of each joint of the robot and the end position error of the robot.Finally,by taking the IRB1200 robot as the research object,we compared and analyzed the distance error and position error obtained by using the high-precision laser tracker and binocular vision measurement method,and both errors are within the range of 10^(-1)mm,which meets the requirements,and after we performed the kinematics calibration on robot by using various optimization algorithms,the distance error has been reduced by an average of 61.5%compared with the pre-optimization level.The kinematic calibration method of industrial robot based on binocular vision distance error measurement can effectively improve the robot end precision and reduce the calibration cost.

关 键 词：距离误差测量 双目视觉 运动学标定 工业机器人 定位精度 

分 类 号：TB92[一般工业技术—计量学]