Spatial target position and orientation calibration method based on total station

Abstract

The invention provides a spatial target position and orientation calibration method based on a total station. The total station is adopted for distance and angle measurement and calibration. Besides, survey coordinates and position orientations are converted into a mechanical arm coordinate system through a conversion matrix. The core content of the method includes that two position points of a spatial target are measured through the total station, a transitional conversion matrix and a rotary matrix are built according to the distance and the rotation angle between the coordination system where the total station is located and the coordination system where a mechanical arm is located, target coordinates in a measurement system are converted into a work system, the coordinates and the orientations of the front point and the tail point of the spatial target in the coordinate system where the total station is located are easily, directly and effectively obtained, and position and orientation information is provided for mechanical arm inverse kinematics analysis.

Description

technical field [0001] The invention relates to the technical field of space measurement and coordinate system transformation, in particular to a position and orientation calibration method of a space object based on a total station. Background technique [0002] At present, in the working process of the automatic control system of the multi-degree-of-freedom manipulator, it is necessary to move the tool table at the end of the manipulator to the spatial position where the target is located. At present, inverse kinematics is usually used to analyze and obtain the moving trajectory of the manipulator, and this involves the measurement and calibration method of the space target position. [0003] There are many methods for measuring and calibrating the position of space objects, such as laser ranging calibration, ultrasonic ranging calibration, etc. However, when using laser positioning and calibration, in addition to the distance measured by the laser measuring instrument, i...

AI Technical Summary

Problems solved by technology

However, when using laser positioning and calibration, in addition to the distance measured by the laser measuring instrument, it is also necessary to know the rotation angle and pitch angle of the rangefinder. In the case of strict requirements on the accuracy of the results, the rotation angle and pitch angle must use high-precision rotary encoding It is difficult to measure and calibrate the device in practice

Ultrasonic waves have higher requirements on the air medium, and different methods need to be used to correct the sound velocity for different media, and complex spatial positioning algorithms are required for position calculation and error compensation, and the actual calculation error is often large

It can be seen that the calibration methods of laser and ultrasonic have great requirements on the working environment, and it is difficult to obtain ideal results.

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