文章基本信息

标题：Position Determination of a Robot End-Effector Using a 6D-Measurement System Based on the Two-View Vision
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作者：Alexej Janz ; Christian Pape ; Eduard Reithmeier 等
期刊名称：Open Journal of Applied Sciences
印刷版ISSN：2165-3917
电子版ISSN：2165-3925
出版年度：2013
卷号：3
期号：7
页码：393-403
DOI：10.4236/ojapps.2013.37049
出版社：Scientific Research Publishing
摘要：A mechatronic system based on the micro-macro-kinematic consists of an industrial robot and a piezoelectric stage mounted on the robot’s end-effector and has to carry out operations like micro-assembly or micro-milling. The piezoelectric stage has to compensate the positioning error of the robot. Therefore, the position of the robot’s end-effector has to be measured with high accuracy. This paper presents a high accuracy 6D-measurement system, which is used to determine the position and orientation of the robot’s end-effector. We start with the description of the operational concept and components of the measurement system. Then we look at image processing methods, camera calibration and reconstruction methods and choose the most accurate ones. We apply the well-known pin-hole camera model to calibrate single cameras. Then we apply the epipolar geometry to describe the relationship between two cameras and calibrate them as a stereo vision system. A distortion model is also applied to enhance the accuracy of the system. The measurement results are presented in the end of the paper.
关键词：Hydraulic Analysis; Differential Evolution; Optimization Model