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Flexible mechanical arm synchronous measurement method and system based on natural characteristics

A flexible manipulator and synchronous measurement technology, applied in the field of robotics, can solve the problems of poor motion accuracy, complex operation, and difficult visual measurement of the flexible manipulator arm shape, and achieve the effect of reducing noise and increasing contrast

Active Publication Date: 2021-03-12
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

[0004] The purpose of the present invention is to provide a method for synchronous measurement of flexible manipulators based on natural features, which can utilize Measure the arm shape of the flexible manipulator with natural features such as rectangles and concentric circles on its own frame, joint shaft holes, etc.

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  • Flexible mechanical arm synchronous measurement method and system based on natural characteristics
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  • Flexible mechanical arm synchronous measurement method and system based on natural characteristics

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Embodiment Construction

[0026] The conception, specific solutions and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solutions and effects of the present invention.

[0027]It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed and connected to another feature, or indirectly fixed and connected to another feature. on a feature. As used herein, the singular forms "a", "the" and "the" are also intended to include the plural unless the context clearly dictates otherwise. Also, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terms used in the specification herein are for describing specific embodiments only, and are not intended to limit the present invention. A...

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Abstract

The invention provides a flexible mechanical arm synchronous measurement method and system based on natural characteristics. The arm shape of the flexible mechanical arm can be measured by utilizing the natural characteristics of rectangles, concentric circles and the like at the positions of a frame, joint shaft holes and the like on the flexible mechanical arm, so that the rotation angle of eachjoint of the flexible mechanical arm is calculated; and the spatial arm shape of the flexible mechanical arm is reconstructed by combining the calculation of the pose of a calibration plate by a hand-eye camera without adding markers such as a two-dimensional code, a marker ball and the like or measuring devices such as a joint encoder and the like on the flexible mechanical arm. Meanwhile, the invention further provides a set of flexible mechanical arm visual measurement system which is used for carrying out flexible mechanical arm shape and joint angle measurement and target pose measurement and can also be used for calibrating the visual measurement system, verifying the algorithm measurement precision and simulating tasks under typical working conditions before the tasks are carried out.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a visual measurement method and system of a flexible mechanical arm for measuring the shape of the flexible mechanical arm and a target pose. Background technique [0002] Disaster rescue, environmental detection, equipment overhaul and maintenance and other application scenarios have the characteristics of narrow working space and many obstacles. It is difficult for traditional robots to complete tasks in these scenarios, but flexible and slender rope-driven flexible robotic arms can play an important role. The flexible manipulator is mainly driven by a rope. However, due to the expansion and contraction of the rope and the frictional resistance with the contact part during the rope drive process, the kinematics and dynamics equations of the flexible manipulator are more complicated and difficult to accurately reflect its actual characteristics, which leads to flexible manipulators...

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Application Information

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IPC IPC(8): B25J19/02B25J19/00B25J9/16G01B11/24G01B11/26
CPCB25J9/16B25J9/1664B25J19/00B25J19/02G01B11/24G01B11/26
Inventor 徐文福王封旭杨太玮袁晗梁斌
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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