基于单目视觉的Delta机器人零点标定方法.pdfVIP

第 46 卷 第 3 期 天津大学学报 (自然科学与工程技术版) Vol.46 No.3 2013 年 3 月 Journal of Tianjin University (Science and Technology) Mar. 2013 ▋ 基于单目视觉的 Delta 机器人零点标定方法 孙月海，王 兰，梅江平，张文昌，刘 艺 (天津大学机构理论与装备设计教育部重点实验室，天津 300072) 摘 要 ：针对实际工程应用中少自由度高速抓放并联机器人的精度问题，提出了一种基于视觉测量的快速标定方 法．以 Delta 机器人为例，通过系统分析和机构合理简化，建立了零点误差模型．构造出基于单目视觉平面测量的 零点误差辨识模型，借助单目视觉仅检测机器人动平台沿水平面运动时末端 x 、 y 向的位置误差，识别出零点误 差，进而修改零点位置实现末端位置误差补偿．标定实验结果表明该方法简单、有效、实用性强． 关键词 ：并联机器人；单目视觉；零点标定；误差辨识 中图分类号：TP24 文献标志码 ：A 文章编号 ：0493-2137 (2013)03-0239-05 Zero Calibration of Delta Robot Based on Monocular Vision Sun Yuehai ，Wang Lan ，Mei Jiangping ，Zhang Wenchang ，Liu Yi (Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education ， Tianjin University ，Tianjin 300072 ，China) Abstract ：For the precision of high-speed pick-and-place parallel robot with lower-mobility in practical engineering ， a fast calibration approach was proposed based on vision metrology in this paper. To specify this method ，by means of system analysis and reasonable mechanism simplification of Delta robot ，a zero error model was established. A zero error identification model using monocular vision was constructed in plane measurement. The zero error could be identified only measuring the positional error of end-effector in x axis and y axis by monocular vision ，when the mo- bile platform was in horizontal motion. The error compensation was realized by modifying the ideal zero point position of the system. Calibration experiment results show that the method is simple ，effective and strongly practical.