Contact type object position and gesture measurer

A measuring device, a technology for pose measurement, applied in electromagnetic measuring device, electric/magnetic profile/curvature measurement, mechanical counter/curvature measurement, etc. Detection speed, avoidance of uncertainty and error, the effect of reducing the amount of calculation

Inactive Publication Date: 2004-07-14
BEIHANG UNIV
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  • Description
  • Claims
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Problems solved by technology

Existing measurement and detection methods are generally implemented using binocular vision, but this method requires a huge

Method used

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  • Contact type object position and gesture measurer
  • Contact type object position and gesture measurer
  • Contact type object position and gesture measurer

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Experimental program
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Embodiment Construction

[0016] Such as figure 1 As shown, the six-dimensional wrist force sensor 1 and the elastic probe 2 are sequentially fixed on the wrist of the robot 5 and the end of the six-dimensional wrist force sensor 1 . The measured object 3 is placed on the workbench 4, and the six-dimensional wrist force sensor 1 collects the information of the contact force between the probe and the measured object 3, and transmits it to the computer 6 through the data line 7. Through the processing of the force information, the probe can be obtained. The force on the needle in the directions of x, y, and z axes, and the moment around the three axes. Such as figure 2 As shown, AO is the position where the probe does not deform, and AB is the position where the probe deforms during actual measurement. According to the physical characteristics of the probe, the elastic deformation Δx, Δy, Δz of the probe end along the three axes, and the angles α, β, γ between the tangent line of the probe end and the...

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Abstract

The present invention belongs to automatic precise measurement device for replacing traditional binocular visual detection device, and is especially the detection of workpiece surface shape or object position and gesture with robot arm, six-dimensional wrist force sensor and elastic probe. The technological scheme includes obtaining the ideal coordinates in tool coordinate system of point on some object by means of the stress information of probe on the object surface, coordinate transforming to obtain the coordinates of the point in robot-based coordinate system, controlling the motion of robot terminal end via six-dimensional wrist force sensor information for well contact and shift of the probe on the measured surface to obtain serial coordinate information of points on the object surface and determine the position, gesture or surface geometric shape of the object in the robot-based coordinate system. Meanwhile, the robot may be also replaced with a video camera.

Description

technical field [0001] The invention relates to a system for detecting the position and posture of an object by means of a robot, a six-dimensional wrist force sensor, an elastic probe and a computer and a realization method thereof. It involves robotics, mechanics of materials, computers and other disciplines. Background technique [0002] Robot technology is widely used in industrial fields, such as automatic assembly, automatic welding, painting, inspection and measurement of mechanical parts, etc. In these applications, the measurement of workpieces with complex curved surfaces and the detection of object poses are important prerequisites for automatic operations. Existing measurement and detection methods are generally implemented using binocular vision, but this method requires a huge amount of data to be processed, and the image matching algorithm in binocular vision is not perfect, and the error is relatively large. Contents of the invention [0003] In order to ...

Claims

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Application Information

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IPC IPC(8): B25J13/00B25J13/08G01B5/20G01B7/28
Inventor 丁希仑解玉文战强
Owner BEIHANG UNIV
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