Error Analysis of Binocular Active Hand-eye Visual System on Parallel mechanisms
Binocular active hand-eye visual system on parallel mechanisms is a novel workspace monitoring mechanism,which fixed on the moving platform of a parallel mechanism with a circular orbit.Considering kinematic coupling between the parallel mechanism and the visual system,a general scheme based on the 3D reconstruct model of a binocular stereo vision is proposed to evaluate the control errors of the robot and the visual mechanism using the image coordinates of two kinds of target points.First,the optimal estimation of the perspective transformation matrix (PPM)relative to the base frame and the moving platform frame are calibrated respectively.Then the actual kinematic parameters of the parallel mechanism and the visual system are estimated by decomposing PPM.The tracking experiment on a 6-PUS parallel engraving machine is presented to show effectiveness of the method.
Liqiang Zhao Lingfu Kong Yueming Wang
School of Information Science and Engineering ,Yanshan University,Qinhuangdao,China;Department of Ma School of Information Science and Engineering ,Yanshan University,Qinhuangdao,China School of Science,Inner Mongolia University of Science &Technology,Baotou,China
国际会议
2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)
张家界
英文
95-100
2008-06-20（万方平台首次上网日期，不代表论文的发表时间）