摘要
基于三维激光扫描仪的工业机器人视觉系统应用越来越广泛,而扫描仪与机器人之间位姿关系标定精度对于机器人视觉系统的应用有重要的影响。介绍基于三维激光扫描仪的机器人视觉系统的相关原理,然后在此基础上系统分析机器人视觉系统位置和姿态标定误差对工件扫描结果和根据扫描结果对工件进行定位过程的影响,得出在工件无姿态变化或有姿态变化但机器人扫描姿态不变情况下的机器人工件定位系统中无须进行视觉系统位置标定的结论,并试验验证了理论分析结论的有效性,为解释视觉系统标定误差对扫描结果的影响情况及简化视觉系统标定过程提供了理论依据。
The 3D laser scanner is widely applied in industry robot vision system,but the calibration error of positional relationship between the scanner and the robot has important influence on the application of robot vision system.It is presented systematically how the scanning results are influenced by the robotic vision calibration position and orientation errors and how the workpiece positioning process is affected by the scanning result and then it is concluded that the position calibration of vision system is not necessary in the robot workpiece positioning system when there is no variation of robot scanning posture no matter whether the workpiece has posture variation or not.The validity of the theoretical analysis conclusion is verified by tests,thus providing the theoretical basis for explaining the influence of calibration error of vision system on the scanning result and for simplifying the calibration process of the vision system.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2011年第13期9-15,共7页
Journal of Mechanical Engineering
基金
国际科技合作(2008DFB70200)
国家高技术研究发展计划(863计划
2007AA04Z2443)资助项目
关键词
工业机器人
视觉系统
标定误差
扫描结果
工件定位
Industry robot Vision system Calibration error Scanning result Workpiece positioning
