基于视觉的机器人轨迹误差测量技术

提出了一种基于视觉的机器人轨迹精度测量系统,该系统以计算机视觉为基础,结合激光测量等技术,可实时测量机器人的运动轨迹误差.完成了高精度图像快速采集与处理、系统标定、三维计算及计算结果可视化等关键技术研究及系统研制工作,并在机器人上进行了实验,大量的实验表明,该系统的测量精度和速度均可满足机器人的轨迹测量的需要.

Ameasuring systemon robot track error has been demonstrated in this paper.Based on computer vision and utilizing laser measuringt tech nologies,this system can realiye on line the track error measurement of a robot.The key technologies such as rapid im age collecting and processing,thre e dimension calculation and result data analysis had been developed and appl ied.Many experiments had been conducted on robots,showing that the measurement precision and speed of t his system can meet the need of the tra ck measurement.