Research on High-precision Measurement of Position and Orientation of 6-DOF Parallel Robot Based on Stereo Vision and Positional Solution

摘要

In the paper, both stereo vision and positional solution are used to measure the position and orientation of 6-DOF parallel robot. Firstly, moving platform is segmented from the background based on temporal and spatial union algorithm, rough position and orientation of moving platform are obtained by feature point extraction and match; secondly, rough length of supported leg is calculated according to rough position and orientation of moving platform; finally, accurate position and orientation of parallel robot are calculated using both actual length measured by sensors and positional solution. Experiment results demonstrate that the position and orientation calculated by the above algorithm have high accuracy.