Determination of optimal measurement configurations for self-calibrating a robotic visual inspection system with multiple point constraints

摘要

In this paper, we propose an algorithm to determine optimal measurement configurations for self-calibrating a robotic visual inspection system with multiple point constraints. The algorithm aims to improve the robotic visual inspection system's calibration accuracy. To do so, a pre-calibration of the robotic visual inspection system is needed to obtain the hand-eye and robot exterior relationship to implement the inverse kinematic algorithm. The candidate measurement configurations with one point constraint can be obtained using the inverse kinematic algorithm for the robotic visual inspection system, so DETMAX is implemented to determine a given number of optimal measurement configurations from the candidate measurement configurations. Particle swarm optimization is used to optimize the positions of the multiple points one by one. To verify the efficiency of the proposed approach, experiment evaluation is conducted on a robotic visual inspection system.