一种基于显微视觉的并联结构微操作机器人的参数标定方法
By using microscopic vision methods to calibrate the parameters of a parallel structure micromanipulation robot, the problem of high-precision calibration in existing technologies is solved, and the motion accuracy of the robot is improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NANKAI UNIV
- Filing Date
- 2024-11-15
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies cannot effectively calibrate the kinematic parameters of micromanipulation robots with high precision. Conventional optical measuring instruments are not accurate enough, and laser rangefinders are too large and heavy to be installed on the end effector.
A microscopic vision-based method was used to calibrate the parameters of a parallel micromanipulation robot. By constructing a kinematic model and using a microscope and camera for image processing, the robot's kinematic parameters were determined.
It improves the motion accuracy of micromanipulation robots, solves the problem that optical trackers and laser trackers cannot be used for parameter calibration of micromanipulation robots, and achieves high-precision parameter calibration.
Smart Images
Figure CN119458279B_ABST