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Mechanical arm system based on stereo visual serving and real-time calibrating method thereof

A calibration method and technology of a robotic arm, applied in the field of robotics, can solve the problems of low precision, high precision and high cost, and achieve the effect of precise calibration and precise operation of tasks

Inactive Publication Date: 2013-02-13
UNIV OF SCI & TECH OF CHINA
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

That is to say, the existing manipulator system has high precision and high cost at the same time, but the precision is not high if the cost is low

Method used

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  • Mechanical arm system based on stereo visual serving and real-time calibrating method thereof
  • Mechanical arm system based on stereo visual serving and real-time calibrating method thereof
  • Mechanical arm system based on stereo visual serving and real-time calibrating method thereof

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Embodiment Construction

[0020] The manipulator system of the present invention is a part of the robot and is used to operate the target object. The robot has a body, and the manipulator system includes a manipulator, a vision device and a main control device. Wherein, the mechanical arm includes a plurality of connecting rods and joints between the connecting rods, and also includes a fixing device for fixing on the robot body. Since the joints between the connecting rods have degrees of freedom of movement, the mechanical arm has multiple degrees of freedom of movement. In addition, each of the above joints includes a joint controller for controlling the movement position of the joint. In addition, there is an actuator at the end of the robot arm, and the position and angle of the actuator relative to the arm joint of the robot arm are calibrated by a robot arm coordinate system. The origin of the mechanical arm coordinate system is located at the fixing device between the mechanical arm and the ro...

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Abstract

The invention discloses a mechanical arm system based on stereo visual serving and a calibrating method thereof; the mechanical arm system comprises a mechanical arm, visual equipment and main control equipment, wherein a vision marker is mounted at the tail end of the mechanical arm; the vision marker is positioned within a vision range of the visual equipment; the visual equipment and the mechanical arm are independently mounted and used for obtaining images of a target object and the vision marker so as to identify and position the posture of the vision marker relative to the target object; and the main control equipment is used for figuring out the angle of each joint of the mechanical arm according to an image of the vision marker, so as to control the mechanical arm to operate the target object. According to the invention, the mechanical arm can be corrected when the joints on the mechanical arm have gaps between each other, so that accurate operation tasks can be finished by using the mechanical arm system.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robotic arm calibration technology of a robot, in particular to a stereo vision servo-based mechanical arm and a real-time calibration method thereof. The invention can simply and precisely position the visual marker at the end of the mechanical arm through stereo vision to perform real-time calibration of the mechanical arm, and is suitable for low-cost and high-precision mechanical arm systems. Background technique [0002] In the existing technology, according to the classification of the application environment of robots, robots include industrial robots in manufacturing environments and service and humanoid robots in non-manufacturing environments. Service robots refer to a large class of semi-autonomous or humanoid robots other than industrial production Fully autonomous robots. Among them, the precise grasping and manipulating function of the robotic arm base...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/08B25J19/00
Inventor 王锋陈小平靳国强程敏陈凯谢炯坤
Owner UNIV OF SCI & TECH OF CHINA
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