Partition-based planar image dynamic measurement for position control of 2DOF pneumatic robot
The planar image measurement system is to acquire the geometric parameters by processing the images of objects. Even after the rectification of the radial distortion of the lens, it is hard to achieve high accuracy with single group of camera extrinsic parameters. A partition-based planar image measurement method is presented in this paper. The image plane is partitioned into 9 subspaces according to the lens radial distortion. And in each subspace one group of extrinsic parameters of objects plane are calibrated separately. The method is applied to the position control of pneumatic 2-DOF planar robot. By continuously measuring the end-effector position of the robot according to feature points of the images, the kinetic parameters can be directly acquired as the closed-loop position feedback. Finally the pneumatic control experiments are implemented to verify the proposed approach. The experimental results show that high accuracy and good performance can be achieved in pneumatic position control with the use of the partition-based image dynamic measurement method.
Partition-based camera calibration Image measurement Pneumatic position system
Dongtai Liang Xuanyin Wang
The State Key Laboratory of Fluid Power Transmission and Control. Zhejiang University, Hangzhou, China
国际会议
杭州
英文
615-618
2009-04-08（万方平台首次上网日期，不代表论文的发表时间）