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Abstract: Aiming at the difficulties in measuring path accuracy of
industrial robots, a sensing method based on binocular vision theory is
presented. The restriction among point, line and plane in 3D-space are
used to get the trajectory pose accuracy measurement model, which is
based on line matching technology. Based on this model, the path
position deviation and path orientation deviation of an industrial robot
are measured. The experimental results indicate that this measuring
system is both simple in structure and convenient for the measurement of
dynamic path accuracy of industrial robots.
Key words: Industrial robot Path accuracy Stereo vision
CLC No: TP242
国家自然科学基金(59975050)和高等学校优秀青年教师教学科研奖励基金资助项目. Received 20011226, received
in revised form 20020715
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