计算机视觉在并联机器人运动学标定中的应用

摘要

In order to improve the running accuracy of parallel robot,the method of using computer vision to calibrate kinematics parameters of parallel robot is researched. Firstly,kinematics analysis of Delta type parallel robot Sensor with three degrees of freedom is conducted. Then, using optical camera as the sensor, the calibration plate fixed on the moving platform is photographed under different state of pose, and the position of the center of moving platform in the base coordinate system is figured out through the camera calibration and the corresponding coordinate transformation method. Finally, using robot inverse kinematics model, customized error equation, and nonlinear least squares estimation,the kinematics parameters are obtained. The experiments verify calibration method is low cost,and its calibration is simplicity and effectiveness.%为提高并联机器人运行精度，研究利用计算机视觉标定并联机器人运动学参数的方法。首先对Delta型三自由度并联机器人进行运动学分析。然后采用光学照相机为传感器，在机构处于不同位姿状态下对固定于动平台上的标定板进行拍照，通过相机标定以及相应的坐标变换方法，求出动平台中心在基坐标系中的位置。最后利用机器人逆运动学模型、自定义的误差方程和非线性最小二乘估计，获得运动学参数。实验结果表明，该标定方法成本较低，标定方法简单、有效。