A monocular vision hand-eye calibration method for rehabilitation robotic arm based on s-r-s structure
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A technology of S-R-S and hand-eye calibration, applied in manipulators, program-controlled manipulators, image analysis, etc., can solve the problems of complex calculation process of hand-eye calibration method, achieve the effect of simplifying hand-eye calibration algorithm, reducing the source of error, and simplifying the system structure
Active Publication Date: 2022-08-02
NANJING UNIV OF POSTS & TELECOMM
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[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:
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Embodiment 1
[0034] see figure 1 , in an embodiment of the present invention, a monocular vision hand-eye calibration method for a rehabilitation robotic arm based on an S-R-S structure is provided, and the method includes the steps:
[0035] S1. Establish a kinematic model of the rehabilitation robot arm with a specified degree of freedom, wherein the rotation axes of adjacent joints in the rehabilitation robot arm are perpendicular to each other and intersect at one point; and in order to describe the end of the rehabilitation robot arm in the base coordinate system The pose, the kinematics model in the present invention is constructed by the D-H model, and the coordinate system of the base of the rehabilitation robotic arm is selected{F 0 } as the world coordinate system {ω}.
[0036] S2. A target is fixedly connected to the end of the rehabilitation robot arm, and a camera is fixed near the rehabilitation robot arm; preferably, the target of the present invention may be a plane or thr...
Embodiment 2
[0046] Combine below figure 2 and image 3 , the method of the present invention is described in detail by constructing a rehabilitation robot arm with seven degrees of freedom, and the specific steps are as follows:
[0047] Step 1: Construct a motion model of the rehabilitation robot arm containing seven rotating joints q1, q2, ..., q7, in which the joint q1 and the joint q2 intersect vertically at one point, the joint q2 and the joint q3 intersect vertically at one point, ..., and the joint q6 perpendicular to the joint q7 at a point, X 0 ~X n ,Z 0 ~Z n They are the X-axis and Z-axis of the robot arm base coordinate system, the first, second, ..., seven-link coordinate system, the end coordinate system, and the Y-axis can be obtained by the right-hand rule; the robot arm base coordinate system is selected as world coordinate system {ω}.
[0048] Step 2: Connect a checkerboard at the end of the rehabilitation robot arm as a target, and fix the industrial camera near t...
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Abstract
The invention discloses a monocular vision hand-eye calibration method for a rehabilitation mechanical arm based on an S-R-S structure. First, a kinematic model of the rehabilitation mechanical arm is established; then an internal parameter matrix of a camera is calibrated, and a circular arc trajectory analysis method is used to obtain The rotation axes of the joints of the end of the rehabilitation robot and the base are represented by the coordinates in the camera coordinate system, and the transformation matrix between the end and base coordinate system and the camera coordinate system is further obtained, and then the transformation matrix between the target and the camera coordinate system is used to obtain The conversion relationship between the end and the target is obtained, and the conversion matrix between the base and the camera coordinate system is obtained in the same way to realize hand-eye calibration; according to the conversion matrix between the target and the end and the conversion matrix between the base and the camera, And the real-time transformation matrix between the target and the camera after the rehabilitation mechanical arm rotates, the transformation matrix between the end coordinate system and the base coordinate system can be obtained, and the position and attitude measurement can be realized; the invention simplifies the system structure of monocular measurement, and the hand-eye calibration and pose measurement can be measured simultaneously.
Description
technical field [0001] The invention belongs to the technical field of mobile robot positioning and monocular vision measurement, in particular to a monocular vision hand-eye calibration method for a rehabilitation mechanical arm based on an S-R-S structure. Background technique [0002] The accurate measurement of the pose of the end of the manipulator is a key issue in robot positioning technology. Vision sensors have received extensive attention due to their low price and ease of use, and localization methods based on vision sensors have always been a research hotspot. According to the number of sensors, visual positioning methods can be divided into monocular vision positioning, binocular vision (stereoscopic vision) positioning and polycular vision (omnicular vision) positioning. Monocular vision positioning only needs one camera to complete the positioning work, which is easy to use and widely applicable. It does not need to solve the problem of calibration and featur...
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