Monocular vision hand-eye calibration method for rehabilitation mechanical arm based on S-R-S structure
What is Al technical title?
Al technical title is built by PatSnap Al team. It summarizes the technical point description of the patent document.
A S-R-S, hand-eye calibration technology, applied in manipulators, program-controlled manipulators, image analysis, etc., can solve the problem of complex calculation process of hand-eye calibration method, and achieve the effect of simplifying hand-eye calibration algorithm, simplifying system structure, and reducing the source of errors.
Active Publication Date: 2019-06-07
NANJING UNIV OF POSTS & TELECOMM
View PDF3 Cites 26 Cited by
Summary
Abstract
Description
Claims
Application Information
AI Technical Summary
This helps you quickly interpret patents by identifying the three key elements:
Problems solved by technology
Method used
Benefits of technology
Problems solved by technology
[0004] Aiming at the problem that the calculation process of the hand-eye calibration method in the prior art is complicated, the present invention proposes a monocular vision hand-eye calibration method for a rehabilitation manipulator based on the S-R-S structure; this method does not need to solve complex nonlinear equations, and does not need to provide All 28 DH parameters, only need to provide d 1 and d 7 Parameters, the specific technical scheme is as follows:
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more
Image
Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
Click on the blue label to locate the original text in one second.
Reading with bidirectional positioning of images and text.
Smart Image
Examples
Experimental program
Comparison scheme
Effect test
Embodiment 1
[0034] refer to figure 1 , in an embodiment of the present invention, a monocular vision hand-eye calibration method of a rehabilitation robotic arm based on an S-R-S structure is provided, the method includes the steps of:
[0035] S1. Establish a kinematics model of the rehabilitation manipulator with a specified degree of freedom, in which the rotation axes of adjacent joints in the rehabilitation manipulator are perpendicular to each other and intersect at one point; and in order to describe the end of the rehabilitation manipulator in the base coordinate system pose, the kinematics model in the present invention is constructed using the D-H model, and the rehabilitation manipulator base coordinate system {F 0} as the world coordinate system {ω}.
[0036] S2. A target is fixedly connected to the end of the rehabilitation mechanical arm, and a camera is fixed near the rehabilitation mechanical arm; preferably, the target of the present invention can be a plane or three-dim...
Embodiment 2
[0046] Combine below figure 2 and image 3 , to construct a seven-degree-of-freedom rehabilitation robot arm to describe the method of the present invention in detail, specifically including the following steps:
[0047] Step 1: Construct a rehabilitation manipulator motion model containing seven rotational joints q1, q2, ..., q7, among which, joint q1 and joint q2 perpendicularly intersect at one point, joint q2 and joint q3 perpendicularly intersect at one point, ..., joint q6 Intersect perpendicular to joint q7 at a point, X 0 ~X n ,Z 0 ~ Z n are the X-axis and Z-axis of the manipulator base coordinate system, the first, second, ..., seven-link coordinate system, and the end coordinate system respectively, and the Y-axis can be obtained by the right-hand rule; the selected manipulator base coordinate system is used as World coordinate system {ω}.
[0048] Step 2. Fix a checkerboard at the end of the rehabilitation manipulator as a target, and fix the industrial camer...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
PUM
Login to view more
Abstract
The invention discloses a monocular vision hand-eye calibration method for a rehabilitation mechanical arm based on an S-R-S structure. Firstly, a kinematics model of the rehabilitation mechanical armis established; then an internal reference matrix of the camera is calibrated; coordinate representation of the tail end of the rehabilitation mechanical arm and each joint rotating shaft of the basein a camera coordinate system is obtained by utilizing an arc track analysis method; a conversion matrix between the tail end and the coordinate system of the base and the coordinate system of the camera is further obtained, a conversion relation between the tail end and the target is obtained through the conversion matrix between the target and the coordinate system of the camera, the conversionmatrix between the coordinate system of the base and the coordinate system of the camera is obtained in the same way, and hand-eye calibration is achieved; according to the calibrated conversion matrix between the target and the tail end, the calibrated conversion matrix between the base and the camera and the calibrated real-time conversion matrix between the target and the camera after the rehabilitation mechanical arm rotates, a conversion matrix between a tail end coordinate system and a base coordinate system can be obtained, and pose measurement is achieved. According to the invention,the system structure of monocular measurement is simplified, and hand-eye calibration and pose measurement can be carried out at the same time.
Description
technical field [0001] The invention belongs to the technical field of mobile robot positioning and monocular vision measurement, and in particular relates to a monocular vision hand-eye calibration method of a rehabilitation manipulator based on an S-R-S structure. Background technique [0002] Accurate measurement of the pose of the end of the manipulator is a key issue in robot localization technology. Vision sensors have attracted widespread attention because of their low price and ease of use. Positioning methods based on vision sensors have always been a research hotspot. Depending on the number of sensors, visual positioning methods can be divided into monocular vision positioning, binocular vision (stereo vision) positioning and multi-eye vision (omnidirectional vision) positioning. Monocular vision positioning only needs one camera to complete the positioning work. It is easy to use and widely applicable. It does not need to solve the calibration and matching of fe...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
Application Information
Patent Timeline
Application Date:The date an application was filed.
Publication Date:The date a patent or application was officially published.
First Publication Date:The earliest publication date of a patent with the same application number.
Issue Date:Publication date of the patent grant document.
PCT Entry Date:The Entry date of PCT National Phase.
Estimated Expiry Date:The statutory expiry date of a patent right according to the Patent Law, and it is the longest term of protection that the patent right can achieve without the termination of the patent right due to other reasons(Term extension factor has been taken into account ).
Invalid Date:Actual expiry date is based on effective date or publication date of legal transaction data of invalid patent.
Login to view more 
Login to view more