CAJ | 학술논문

高效、准确地检测机器人末端位姿误差是实现运动学标定的关键环节。提出一种基于单目摄像机拍摄立体靶标序列图像信息的末端执行器6维位姿误差辨识方法，构造具有平行四边形几何约束的四个空间特征点，并以平行四边形的两个消隐点为约束，建立空间刚体位姿与其二维图像映射关系模型，实现末端位姿的精确定位，然后以Delta高速并联机器人为对象，进行了运动学标定试验，验证该方法的有效性，为这类机器人低成本、快速、在线运动学标定提供重要的理论与技术基础。
고효、준학지검측궤기인말단위자오차시실현운동학표정적관건배절。제출일충기우단목섭상궤박섭입체파표서렬도상신식적말단집행기6유위자오차변식방법，구조구유평행사변형궤하약속적사개공간특정점，병이평행사변형적량개소은점위약속，건립공간강체위자여기이유도상영사관계모형，실현말단위자적정학정위，연후이Delta고속병련궤기인위대상，진행료운동학표정시험，험증해방법적유효성，위저류궤기인저성본、쾌속、재선운동학표정제공중요적이론여기술기출。
The robot pose errors detection is a key step to realize the kinematic calibration. The six-dimensional geometrical errors detection using a single CCD camera and elaborately designed targets is proposed. A model of rigid body displacement and its 2D image mapping, which is constructed based on 4 spatial features and 2 vanishing points of a parallelogram geometric constraint, can be used to achieve precise positioning of the position and pose of the end-effector. By taking a Delta robot as a demonstrator, experiments of kinematic calibration will be carried out to verify the validity and effectiveness of the proposed approach. The outcomes will lay a solid theoretical foundation for the low-cost and fast kinematic calibration of the robot.