Miniaturized underwater manipulator position angle measuring method

A measurement method and technology of position and angle, which are applied to measurement devices, instruments, etc., can solve the problem of high cost of high-precision ultrasonic probes and CCD cameras, and achieve the effects of low cost, simplified calculation process, and simple measurement process.

Active Publication Date: 2015-11-11
HARBIN ENG UNIV
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The above articles can use their respective methods to obtain the end running coordinates to measure the accuracy of the ...

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  • Miniaturized underwater manipulator position angle measuring method
  • Miniaturized underwater manipulator position angle measuring method
  • Miniaturized underwater manipulator position angle measuring method

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[0033] The patent of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0034] like figure 1 As shown, the measurement flow and implementation steps of the measurement method of the present invention are:

[0035] 1) First, based on the measurement principle of the present invention, establish the base coordinate system and the measurement coordinate system used when the method is measured; use the manipulator installation fixed point as the origin to establish the manipulator base coordinate system (O-XYZ), and connect the three pull rope displacement sensors. Install a three-dimensional position measurement device, and based on the device, a measurement coordinate system O-X can be established C Y C Z C . The base coordinate system (O-XYZ) takes the direction of the connection between the end point and the installation fixed point when the manipulator is fully unfolded as the X axis, the longitudinal direction...

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Abstract

The invention provides a miniaturized underwater manipulator position angle measuring method. Based on a three-dimensional position measuring apparatus formed by installing three stay rope displacement sensors, a measuring coordinate system (O-XCYCZC) is established, and a base coordinate system (O-XYZ) is established at a manipulator installation fixed point. The principle of the method is as follows: actual value coordinates of the tail end of a manipulator under the measuring coordinate system are obtained through the three-dimensional measuring apparatus, the actual value coordinates are converted into the base coordinate system through coordinate conversion, and motion position errors of the tail end of the manipulator are obtained through comparison. The underwater manipulator position angle measuring method provided by the invention is convenient and simple in measuring process, concise in calculation processing process and low in cost, thereby being suitable for three-dimensional position measurement and tail-end angle precision measurement carried out by an underwater manipulator in a pool environment.

Description

technical field [0001] The invention relates to a method for measuring the position and angle of an underwater manipulator, in particular to a method for measuring the position accuracy of the end of the underwater manipulator and the accuracy of joint angles. Background technique [0002] With the dwindling of land resources, the pace of human development of the ocean is getting faster and faster. The autonomous underwater robot and its operating system are carriers for exploration and development in the deep sea without human beings; with the continuous improvement of its working scope and operating requirements, higher requirements are also put forward for its operating tools. Based on the high-precision requirements of underwater manipulator tasks, it is necessary to verify and measure the motion control accuracy of underwater manipulators. [0003] At present, there are relatively few measurement methods directly aimed at measuring the angle accuracy of the end positio...

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Application Information

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IPC IPC(8): G01B21/22
CPCG01B21/04G01B21/22
Inventor 张铭钧杨超马小委王玉甲刘兵姚峰郭冠群
Owner HARBIN ENG UNIV
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