Mechanical arm tail end tracking and measuring system and method based on coding azimuth device

A technology of tracking measurement and manipulator, which is applied in the direction of manipulator, measuring device, optical device, etc., can solve the problems of high cost, poor reliability and low precision of local networking, and achieve simple structure, low cost, improved stability and reliability effect

Inactive Publication Date: 2014-07-02
CIVIL AVIATION UNIV OF CHINA
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The system mainly has disadvantages such as high cost o

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  • Mechanical arm tail end tracking and measuring system and method based on coding azimuth device
  • Mechanical arm tail end tracking and measuring system and method based on coding azimuth device
  • Mechanical arm tail end tracking and measuring system and method based on coding azimuth device

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Embodiment Construction

[0032] The end-of-manipulator tracking and measurement system and method based on the encoding and orientation device provided by the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] Such as figure 1 As shown, the end-of-manipulator tracking measurement system based on the coded orientation device provided by the present invention includes: a manipulator 1, a polyhedron code point feature measurement target 2, a manipulator end effector 3, a manipulator control cabinet 4, a measuring camera 5 and The host computer 6; wherein: the mechanical arm 1 is an electric multi-joint industrial mechanical arm, and its movable end is equipped with a polyhedron code point feature measurement target 2 and a mechanical arm end effector 3;

[0034] The polyhedron coded point feature measurement target 2 is a measurement recognition device with coded feature points, which is installed at the connection part bet...

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Abstract

The invention discloses a mechanical arm tail end tracking and measuring system and method based on a coding azimuth device. The system comprises a mechanical arm, a polyhedron coding point feature measuring target, a mechanical arm tail end executor, a mechanical arm control cabinet, a measuring camera and an upper computer. The system and method has the advantages that monocular vision pose estimation is used to satisfy the requirements of large visual fields, the system is simple in structure and low in manufacturing cost, and influence of light pollution in complex industrial environments on positioning precision is avoided by the polyhedron coding point feature measuring target.

Description

technical field [0001] The invention belongs to the technical field of manipulator tracking and measurement, and in particular relates to a system and method for tracking and measuring the end of a manipulator based on an encoding azimuth device. Background technique [0002] Traditional industrial manipulators generally use teaching or offline programming to perform path planning and motion programming for processing tasks. With the development of technology, industrial production puts forward higher requirements for processing quality, processing accuracy and assembly efficiency. Using the vision system, the precise position information of the end of the robotic arm can be fed back in real time, and the trajectory of the robotic arm can be reasonably adjusted according to the position information, so as to improve production efficiency and further improve the processing quality of the product. How to improve the detection and tracking accuracy of the position and attitude...

Claims

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Application Information

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IPC IPC(8): B25J13/08G01B11/00
Inventor 于之靖孙海龙
Owner CIVIL AVIATION UNIV OF CHINA
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