Compensation for Positioning Error of Industrial Robot for Flexible Vision Measuring System
Positioning error of robot is a main factor of accuracy of flexible coordinate measuring system which consists of universal industrial robot and visual sensor.Present compensation methods for positioning error based on kinematic model of robot have a significant limitation that it isn’t effective in the whole measuring space.A new compensation method for positioning error of robot based on vision measuring technique is presented.One approach is setting global control points in measured field and attaching an orientation camera to vision sensor.Then global control points are measured by orientation camera to calculate the transformation relation from the current position of sensor system to global coordinate system and positioning error of robot is compensated.Another approach is setting control points on vision sensor and two large field cameras behind the sensor.Then the three dimensional coordinates of control points are measured and the pose and position of sensor is calculated real-timely.Experiment result shows the RMS of spatial positioning is 3.422mm by single camera and 0.031mm by dual cameras.Conclusion is arithmetic of single camera method needs to be improved for higher accuracy and accuracy of dual cameras method is applicable.
industrial precision measurement automobile manufacture vision measurement industrial robot positioning error compensation single camera dual cameras kinematic model
Lei Guo Yajun Liang Jincheng Song Zengyu Sun Jigui Zhu
Beijing Aerospace Institute for Metrology and Measurement Technology, Beijing, China,100076;State Ke Beijing Aerospace Institute for Metrology and Measurement Technology, Beijing, China,100076 State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianji
国际会议
2012第八届精密工程测量和仪器仪表国际研讨会(ISPEMI2012)
成都
英文
1-8
2012-08-08（万方平台首次上网日期，不代表论文的发表时间）