CAJ | 학술논문

针对机器人位姿的测量，建立双目立体视觉传感器三坐标的数学模型。匹配相关的特征点，采用最小二乘法得到空间特征点的三维坐标。利用外部位姿线性方程的建立与求解确立机器人基坐标与工件坐标的矩阵关系。通过靶标法来确定机器人在某一位姿时工件坐标系和视觉传感器坐标系之间的齐次坐标变换矩阵的关系。实验结果显示，在没有噪声因素情况下，利用线性方法求解机器人外部位姿是可行的，能够满足系统精度要求。
침대궤기인위자적측량，건립쌍목입체시각전감기삼좌표적수학모형。필배상관적특정점，채용최소이승법득도공간특정점적삼유좌표。이용외부위자선성방정적건립여구해학립궤기인기좌표여공건좌표적구진관계。통과파표법래학정궤기인재모일위자시공건좌표계화시각전감기좌표계지간적제차좌표변환구진적관계。실험결과현시，재몰유조성인소정황하，이용선성방법구해궤기인외부위자시가행적，능구만족계통정도요구。
In this paper, the CMM mathematical model of binocular stereo visual sensor has been proposed for the measurements of the robot position and posture. Matching the related feature points, three-dimensional coordinates of feature points is obtained by using the least squares method. This study establishes the matrix relationship between the robot base coordinate and the workpiece coordinate utilizing establishment and solution of the linear equations of external position and posture. This paper confirms the homogeneous coordinate transformation matrix relationship between the workpiece and the vision sensor coordination when the robot is in any position and posture through the target method. The experimental results show that the linear method for solving robot external posture is feasible without the impact of noise, and it can meet the accuracy requirements.