CN115294198A - Vision-based global performance measurement system and method for mechanical arm - Google Patents
Vision-based global performance measurement system and method for mechanical arm Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention relates to the technical field of mechanical arm performance measurement, in particular to a vision-based mechanical arm overall performance measurement system and a vision-based mechanical arm overall performance measurement method, wherein the mechanical arm comprises a plurality of connecting rods, at least two marks are arranged in the length direction of each connecting rod, three detection pieces which are equiangularly distributed around the center of each mark and have equal distance are arranged in each mark, a measurement and control module and two vision modules are arranged on one side of the mechanical arm, and the measurement and control modules are connected with the two vision modules and the mechanical arm; the two vision modules synchronously and quickly acquire image information of all marks through the detection piece and transmit the image information to the measurement and control module, and the measurement and control module processes the image information to obtain the central position information and the posture information of the discrete marks, so that a global space displacement field of a continuous structure of the mechanical arm is constructed and is used for measuring and evaluating the performance and the state of the mechanical arm.
Description
Technical Field
The invention relates to the technical field of mechanical arm measurement, in particular to a system and a method for measuring the overall performance of a mechanical arm based on vision.
Background
In the design, manufacture, use and maintenance stages of the mechanical arm, the performance of the mechanical arm needs to be evaluated, and the structural state of the mechanical arm needs to be monitored so as to ensure that the mechanical arm can better serve the automatic production process. The motion, structural vibration and deformation characteristics of the mechanical arm are important contents of mechanical arm performance evaluation and state monitoring, mechanical arm motion, structural vibration and deformation information are measured, the mechanical arm operation performance and vibration characteristics are analyzed, the structure and vibration parameters are analyzed, and the mechanical arm vibration monitoring system has important significance in the aspects of optimizing the mechanical arm structure, performing predictive maintenance, improving the operation track precision and the like.
In order to measure the motion performance, structural vibration and deformation of the mechanical arm, the currently adopted methods include a strain measurement method, an acceleration measurement method, a measurement method based on position sensing, a laser measurement method, a visual measurement method and the like; the strain measurement method, the acceleration measurement method and the measurement method based on position sensing belong to contact measurement methods, a sensing unit is required to be in contact with a structure of a mechanical arm to be measured in the measurement process, a load effect can be generated on a measured object, the accuracy of a measurement result is influenced, and the contact measurement mode can only measure local information of the structure of the mechanical arm and cannot reflect the conditions of overall operation, structural vibration and deformation of the mechanical arm; although the laser measurement method can perform non-contact measurement, each laser displacement sensor can only measure displacement information of one point, global measurement is difficult to realize, and the cost is very expensive; the vision measurement can realize global measurement, but the current vision measurement scheme is mainly used for measuring local plane vibration and deformation information of the mechanical arm structure, is difficult to measure three-dimensional space motion, space vibration and deformation information of the mechanical arm structure, and cannot accurately and comprehensively evaluate the performance and the running state of the mechanical arm.
For example, a patent with publication number CN208437861U, published in 2019, 1, 29, for a dynamic welding manipulator system based on vision measurement, includes a control system (industrial personal computer), a dynamic monitoring module, an accurate prediction module, a manipulator, a welding gun and a production line, where the control system is connected with the dynamic monitoring module, the accurate prediction module, the manipulator and the production line by data lines, the dynamic monitoring module is combined with the accurate prediction module, the dynamic monitoring module includes a global camera, and the global camera is fixedly arranged above the production line; the accurate prediction module comprises a hand-eye camera which is fixedly arranged on a shaft of the mechanical arm and can rapidly calculate the space pose relationship among parts, a production line, the mechanical arm, a welding gun and the like to form a vision closed-loop control system based on three-dimensional pose; the dynamic welding task can be completed quickly and accurately, so that the production efficiency is greatly improved; this patent is guided the arm through the vision mode, promotes the work efficiency of arm system, does not measure arm system performance.
The thesis "flexible structure vibration measurement and control based on vision" measures the plane vibration condition of a local point on a single flexible arm in a single vision mode, represents the vibration condition of the single flexible arm by the vibration of the local point, and does not realize the analysis of structure space motion, vibration and deformation.
The paper binocular three-dimensional detection and active control of flexible arm vibration only relates to the measurement of the plane vibration condition of a single flexible arm, and does not relate to the measurement of the global structure motion, vibration and deformation condition of the multi-degree-of-freedom mechanical arm.
The mechanical arm is formed by connecting a plurality of connecting rods, the movement, vibration, deformation and the like among the connecting rods influence each other, the measurement of the global structure movement, vibration and deformation conditions of the mechanical arm plays an important role in performance improvement, structure optimization and operation state evaluation of the mechanical arm.
Disclosure of Invention
In view of the above, the present invention provides a system and a method for measuring global performance of a mechanical arm based on vision, so as to solve the problem that faster, accurate and comprehensive measurement and evaluation of global performance and state of the mechanical arm cannot be achieved.
Based on the aim, the invention provides a vision-based global performance measurement system for a mechanical arm, which comprises the mechanical arm, wherein the mechanical arm comprises a plurality of connecting rods, at least two marks are arranged in the length direction of each connecting rod, three detection pieces which are equiangularly distributed around the center of each mark and have equal distance are arranged in each mark, a measurement and control module and two vision modules are arranged on one side of the mechanical arm, and the measurement and control modules are connected with the two vision modules and the mechanical arm; the two vision modules synchronously and quickly acquire all the image information of the marks through the detection piece and transmit the image information to the measurement and control module, and the measurement and control module processes the image information to obtain the central position information and the posture information of the discrete marks, so that a global space displacement field of a continuous structure of the mechanical arm is constructed and used for measuring and evaluating the performance and the state of the mechanical arm.
Optionally, the vision module comprises a camera.
Optionally, the detection piece is provided with a cross word line, the intersection of the cross word line is the center of the detection piece, the mark is circular, the detection piece is a small circle with the same diameter, the distance between the circle centers of the three small circles is the same, and each small circle is equally divided into four regions through the cross word line, and the two regions are arranged oppositely and have the same color.
Optionally, the measurement and control module extracts feature points through image information, and obtains center position information and posture information of discrete marks through the feature points, wherein the feature points are three circle centers of the detection pieces on each mark.
Optionally, the measurement and control module obtains the feature points through edge detection and hough transform.
Optionally, the measurement and control module obtains pixel coordinates of centers of the detection pieces in all the marks through the feature points, obtains three-dimensional space coordinates of centers of three detection pieces on the marks through the pixel coordinates, and further obtains center position information and posture information of the marks.
Optionally, the processing of the image information by the measurement and control module sequentially includes filtering, correction processing and feature point extraction.
Optionally, the information of the center position of the mark is the spatial coordinate position of the center point of the mark, and the spatial coordinate positions of the centers of the three detection pieces of the mark are [ x [ ] i ,y i ,z i ](i＝1,2,3)，
P T ＝G -1 ·H/2
Wherein: p = [ x, y, z)]Expressed as the spatial coordinate position of the center point of the mark;
is a 3 x 3 coefficient matrix, G -1 Solving an inverse matrix of the matrix G;
is a 3 x 1 coefficient matrix; t is the transposed symbol of the vector;
the attitude information is an attitude vector of a mark, and the attitude vector of the mark is
Wherein norm is the vector
Die length of (2).
Optionally, after obtaining the central position information and the posture information of the discrete markers, spatial data interpolation or fitting is performed on the central position information and the posture information at the same moment, and spatial position and posture data of a continuous structure of the mechanical arm are constructed, so that the global deformation and stress conditions of the mechanical arm at a certain moment are analyzed.
A method of a vision-based global performance measurement system for a mechanical arm comprises the following steps: the method comprises the steps that firstly, a measurement and control module is used for controlling the operation of a mechanical arm, then two vision modules rapidly and synchronously acquire image information of all marks through a detection piece and transmit the image information to the measurement and control module, the measurement and control module processes the image information to obtain central position information and posture information of all discrete marks, and the central position information and the posture information of a plurality of discrete marks on the mechanical arm at the same time are utilized to construct a global spatial displacement field of a continuous structure of the mechanical arm for measuring and evaluating the performance and the state of the mechanical arm.
The invention has the beneficial effects that: before measurement, a mark is installed and fixed on the mechanical arm, then two visual modules are moved to one side of the mechanical arm, the mark on the mechanical arm is in the visual fields of the two visual modules, the mechanical arm is controlled to operate through a measurement and control module, then the two visual modules synchronously, quickly and synchronously acquire image information containing the mark, the image information is transmitted to the measurement and control module, the measurement and control module processes the image information to obtain central position information and posture information of all discrete marks, the central position information and the posture information of a plurality of discrete marks on the mechanical arm at the same moment are utilized to construct global spatial displacement of a continuous structure of the mechanical arm, the spatial deformation and the stress condition of the mechanical arm at a certain moment are analyzed, a global spatial displacement field of the mechanical arm at a continuous moment is constructed by utilizing the global structural displacement of the mechanical arm at the continuous moment, the conditions of the spatial operation, vibration, deformation, stress and the like of the mechanical arm at the continuous moment are analyzed, the performance and the state of the mechanical arm at the continuous moment are conveniently and more accurately and comprehensively evaluated, the problem that the performance of the mechanical arm cannot be comprehensively evaluated from the fact that only local information is measured in the prior measurement mode is effectively solved, and the performance of the mechanical arm, and the mechanical arm and the single-point measurement is more accurately and the problem that the performance of the mechanical arm cannot be comprehensively evaluated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a tag according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a process of calculating center position information and attitude information of a discrete marker according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of spatial bending and torsional deformation of one link of the robot arm observed at a certain time according to the center position information and the attitude information of the discrete markers acquired according to the embodiment of the present invention;
fig. 5 is a schematic diagram of a situation of bending and torsional deformation of one link in a continuous space along a length direction of a robot arm observed by interpolating the acquired center position information and posture information of the discrete marker at a certain time according to an embodiment of the present invention.
In the figure: 1. a mechanical arm; 2. a vision module; 3. marking; 4. a measurement and control module; 5. a light source module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments and the accompanying drawings.
It should be noted that technical terms or scientific terms used in the embodiments of the present invention should have the ordinary meanings as understood by those having ordinary skill in the art to which the present invention belongs, unless otherwise defined. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
As shown in fig. 1, a vision-based global performance measurement system for a mechanical arm comprises a mechanical arm 1, wherein the mechanical arm 1 comprises a plurality of connecting rods, at least two marks 3 are arranged on the mechanical arm 1 along each connecting rod, three detection pieces which are equiangularly distributed around the centers of the marks 3 and have equal distances from each other are arranged in the marks 3, a cross line is arranged on each detection piece, the intersection of the cross line is the center of each detection piece, a measurement and control module 4 and two vision modules 2 are arranged on one side of the mechanical arm 1, and the measurement and control module 4 is connected with the two vision modules 2 and the mechanical arm 1; the two vision modules 2 synchronously and quickly acquire all the image information of the marks 3 and transmit the image information to the measurement and control module 4, and the measurement and control module 4 processes the image information to obtain the central position information and the posture information of the discrete marks 3, so that a global space displacement field of a continuous structure of the mechanical arm 1 is constructed and is used for measuring and evaluating the performance and the state of the mechanical arm 1.
Before the measurement, mark 3 is installed and fixed on mechanical arm 1, then two vision modules 2 are moved to one side of mechanical arm 1, and all on mechanical arm 1 mark 3 is two in the visual field of vision module 2, at first, through observing and controlling module 4 control mechanical arm 1 operation, then two vision module 2 gathers the image information that contains all marks 3 fast in step, and will image information transmits for observing and controlling module 4, observing and controlling module 4 is right image information handles the central position information and the gesture information of discrete mark 3, utilizes central position information and the gesture information of a plurality of discrete marks 3 on mechanical arm 1 at the same moment, constructs the global space displacement of mechanical arm 1 continuous structure, analyzes the global structure space deformation of mechanical arm 1 at a certain moment, the atress condition, utilizes the global space displacement of mechanical arm 1 at a continuous moment, constructs continuous time mechanical arm 1 global space displacement field, analyzes continuous time mechanical arm 1 global structure space operation, vibration, deformation and atress condition, is convenient for realizing more accurately and comprehensively measuring and evaluating mechanical arm 1's performance and state.
The vision module 2 comprises cameras, in the process of image information acquisition, two cameras in the vision module 2 are synchronous to ensure the correctness of the processing result of subsequent image information, and the image information acquired by the two cameras can be processed by the measurement and control module 4 in real time in an online mode and can also be analyzed by the measurement and control module 4 in an offline mode.
If the conditions of space operation, vibration, deformation, stress and the like of certain single points on the mechanical arm 1 are measured, only one mark 3 needs to be arranged on a corresponding measuring point of the mechanical arm 1;
if the information of the continuous structure of the mechanical arm 1, such as spatial operation, vibration, deformation, stress and the like, needs to be analyzed, at least 2 marks 3 must be installed on each connecting rod of the same mechanical arm 1 at intervals, and in order to ensure that the subsequent measurement results can comprehensively and truly reflect the global performance of the mechanical arm 1, the marks 3 are installed on the position of the geometric center of each connecting rod of the mechanical arm 1 as much as possible.
Before image information is collected, parameters of a measuring system need to be calibrated, calibration contents relate to internal parameters, distortion parameters, external parameters and structural parameters of the vision modules 2, the external parameters mainly refer to transformation parameters between coordinate systems of the two vision modules 2 and a fixed coordinate system of the mechanical arm 1, the structural parameters refer to structural transformation parameters between the two vision modules 2, the calibration is used for distortion correction of video frames or images acquired by the measuring system, pixel coordinates of extracted feature points are converted into space coordinate positions under the fixed coordinate system of the mechanical arm 1 in subsequent processing, subsequent global performance analysis is facilitated, calibration of the internal parameters and the distortion parameters of the vision modules 2 can be achieved by a Zhang-Zhengyou calibration method, calibration of the external parameters and the structural parameters can be achieved by a direct linear transformation method or other improved methods.
As shown in fig. 2, the mark 3 is a circle, the detecting element is a small circle with the same diameter, the distances between the centers of the three small circles are the same, each small circle is divided into four regions by a cross word line, and two regions which are oppositely arranged are the same color.
Two cameras in two vision modules 2 synchronously acquire image information containing all marks 3 on a mechanical arm 1, feature points are extracted, the feature points are the centers of circles of three detection pieces on each mark 3, then pixel coordinates of the centers of the detection pieces on the marks 3 are calculated, calculation is carried out in a traditional mode through an angular point detection mode, disturbance is large, errors are prone to occurring, two straight lines passing through the centers of circles in each detection piece are obtained in the system through edge detection and Hough transformation modes, two straight line equations are combined, intersection points are feature points, the pixel coordinates of the centers of the detection pieces in all the marks 3 can be obtained through the method, three-dimensional space coordinates of the centers of the three detection pieces on the marks 3 are obtained through pixel coordinate transformation, space coordinate positions and space attitude vectors of the centers of the marks 3 are obtained according to the space coordinate positions of the centers of the three detection pieces, and preliminary filtering and correction operations are carried out on the obtained images before feature point extraction is carried out, so that influences of disturbance are reduced.
As shown in fig. 3, the center position information of the mark 3 is the spatial coordinate position of the center point of the mark 3, which represents the spatial position of the structure of the robot arm 1 at the center point of the mark 3, the posture information of the center point of the mark 3 is represented by the unit vector perpendicular to the plane of the mark 3 at the center point, which represents the posture of the structure of the robot arm 1 at the center point of the mark 3, and the spatial coordinate positions of the centers of the three detection members obtained by the coordinate transformation are [ x [ i ,y i ,z i ](i =1,2,3), the spatial coordinate position of the center point of the marker 3 can be found by the following formula, P T ＝G -1 H/2, where P = [ x, y, z ]]Expressed as the position of the spatial coordinates of the central point of the marker 3;
is a 3 × 3 coefficient matrix, G -1 Solving an inverse matrix of the matrix G;
is a 3 x 1 coefficient matrix; t is the transposed sign of the vector.
The attitude information is an attitude vector of a sign 3, and the attitude vector of the sign 3 is
Wherein norm is the vector
Die length of (2).
As shown in fig. 4, for the central position information and the posture information of the discrete marker 3 mounted on the link of the mechanical arm 1 acquired by one link of the mechanical arm 1 at a certain time, the deformation state of the corresponding link on the mechanical arm 1 is reflected, the spatial deformation of the structure corresponding to the central point of the marker 3 in the length direction of the link of the mechanical arm 1 can be observed through the central position information of the marker 3 mounted on the link, and the spatial torsional deformation of the structure corresponding to the central point of the marker 3 on the link can be observed through the posture information of the marker 3. By extracting the central position information and the posture information of the discrete marker 3 arranged on different connecting rods, the space bending and torsional deformation conditions of different connecting rods at the corresponding position of the center of the marker 3 can be observed; and the central position information and the posture information of all the discrete marks 3 are extracted, so that the bending and torsional deformation conditions of the global space of the mechanical arm 1 under the coupling action of all the connecting rods can be observed.
In order to analyze the continuous spatial deformation of the connecting rod of the mechanical arm 1 at a certain moment, the continuous spatial deformation form of the connecting rod of the mechanical arm 1 is analyzed by acquiring the central position information and the posture information data of the discrete marker 3 mounted on the connecting rod of the mechanical arm 1, and as shown in fig. 5, after the central position information and the posture information of the discrete marker 3 mounted on one connecting rod of the mechanical arm 1 are acquired, spatial data interpolation or fitting is performed on the central position information and the posture information of the marker 3, so that the continuous spatial bending and torsional deformation of the connecting rod can be observed. By interpolating and fitting the central position information and the posture information of the discrete markers 3 on different connecting rods, the continuous space bending and torsion deformation conditions of different connecting rods can be analyzed; and (3) fitting or interpolating the central position information and the posture information of all the discrete marks 3 on the mechanical arm 1, so as to observe the continuous space bending and torsion deformation conditions of the global structure of the mechanical arm 1 under the coupling action of all the connecting rods.
Through the discrete and continuous deformation state of the mechanical arm 1 or one of the connecting rods obtained at continuous time, a motion and deformation field reflecting the time change of the mechanical arm 1 or the connecting rod thereof can be constructed, the global structure space motion, vibration, deformation and stress conditions of the mechanical arm 1 are observed, and the overall structure performance of the mechanical arm 1 is analyzed.
The mark 3 is detachably arranged on the mechanical arm 1.
The light source module 5 is arranged on one side of the mechanical arm 1, the light source module 5 is used for supplementing light for the mechanical arm 1, and the influence of uneven ambient illumination on the mechanical arm 1 is eliminated when the mechanical arm 1 is measured.
Based on the above embodiment, a method for measuring the global performance of a mechanical arm based on vision is provided, which comprises the following steps: firstly, the operation of the mechanical arm 1 is controlled through the measurement and control module 4, then, the two vision modules 2 quickly and synchronously acquire all the image information of the marks 3, the image information is transmitted to the measurement and control module 4, the measurement and control module 4 processes the image information to obtain the central position information and the posture information of all the discrete marks 3, the central position information and the posture information of a plurality of discrete marks 3 on the mechanical arm 1 at the same moment are utilized to construct the global space displacement of the continuous structure of the mechanical arm 1, the global structure space deformation and the stress condition of the mechanical arm 1 at a certain moment are analyzed, the global space displacement of the mechanical arm 1 at a continuous time is utilized to construct the global space displacement field of the mechanical arm 1 at a continuous time, the operation, the vibration, the deformation and the stress condition of the mechanical arm 1 at a continuous time are analyzed, and the performance and the state of the mechanical arm 1 are more accurately and comprehensively measured and evaluated.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to imply that the scope of the invention is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalents, improvements, and the like that may be made without departing from the spirit or scope of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The vision-based mechanical arm global performance measuring system comprises a mechanical arm (1) and is characterized in that the mechanical arm (1) comprises a plurality of connecting rods, at least two marks (3) are arranged in the length direction of each connecting rod, three detecting pieces which are equiangularly distributed around the center of each mark (3) and have equal distance are arranged in each mark (3), a measurement and control module (4) and two vision modules (2) are arranged on one side of the mechanical arm (1), and the measurement and control module (4) is connected with the two vision modules (2) and the mechanical arm (1); the vision module (2) collects all the image information of the mark (3) synchronously and quickly through the detection piece, the image information is transmitted to the measurement and control module (4), the measurement and control module (4) processes the image information to obtain the central position information and the posture information of the discrete mark (3), so that a global space displacement field of a continuous structure of the mechanical arm (1) is constructed, and the performance and the state of the mechanical arm (1) are measured and evaluated.
2. A vision based global performance measurement system of a robotic arm according to claim 1, wherein said vision module (2) comprises a camera.
3. The vision-based mechanical arm global performance measuring system is characterized in that a cross word line is arranged on the detection member, the intersection of the cross word line is the center of the detection member, the mark (3) is a circle, the detection member is a small circle with the same diameter, the centers of the three small circles are at the same distance, each small circle is divided into four regions by the cross word line, and the two regions which are oppositely arranged are the same color.
4. The vision-based mechanical arm global performance measurement system as claimed in claim 1, comprising said measurement and control module (4) extracting feature points through image information, and obtaining center position information and attitude information of discrete marks (3) through the feature points, wherein the feature points are the centers of circles of three said detection members on each said mark (3).
5. The vision-based global performance measurement system for the mechanical arm according to claim 4, wherein the measurement and control module (4) obtains feature points through edge detection and Hough transform.
6. The vision-based mechanical arm global performance measurement system according to claim 4, wherein the measurement and control module (4) acquires pixel coordinates of centers of detection pieces in all the marks (3) through feature points, acquires three-dimensional space coordinates of centers of three detection pieces on the marks (3) through the pixel coordinates, and further acquires center position information and posture information of the marks (3).
7. The vision-based global performance measurement system for the mechanical arm is characterized in that the measurement and control module (4) processes the image information sequentially including filtering and correcting processing and feature point extraction.
8. A vision-based global performance measurement system for mechanical arm according to claim 6, wherein the information of the center position of said mark (3) is the spatial coordinate position of the center point of said mark (3), and the spatial coordinate position of the center of three said detecting members of said mark (3) is [ x [ ] i ,y i ,z i ](i＝1,2,3)，
P T ＝G -1 ·H/2
Wherein: p = [ x, y, z)]P is expressed as the spatial coordinate position of the central point of the mark (3);
is a 3 x 3 coefficient matrix, G -1 Solving an inverse matrix of the matrix G;
is a 3 x 1 coefficient matrix; t is the transposed sign of the vector;
the attitude information is an attitude vector of the sign (3), and the attitude vector of the sign (3) is
Wherein norm is the vector
Die length of (2).
9. The vision-based global performance measurement system for the mechanical arm is characterized in that after the central position information and the attitude information of the discrete marks (3) are obtained, spatial data interpolation or fitting is carried out on the central position information and the attitude information at the same moment, and the spatial position and attitude data of the continuous structure of the mechanical arm (1) are constructed, so that the global deformation and the stress condition of the mechanical arm (1) at a certain moment are analyzed.
10. A vision-based global performance measurement method for a robotic arm according to any one of claims 1-9, comprising the steps of: the method comprises the steps that firstly, a mechanical arm (1) is controlled to run through a measurement and control module (4), then, two vision modules (2) rapidly and synchronously acquire all image information of a mark (3) through a detection piece, the image information is transmitted to the measurement and control module (4), the measurement and control module (4) processes the image information, central position information and attitude information of all discrete marks (3) are obtained, and the central position information and the attitude information of a plurality of discrete marks (3) on the mechanical arm (1) at the same moment are utilized, so that a global space displacement field of a continuous structure of the mechanical arm (1) is constructed and is used for measuring and evaluating the performance and the state of the mechanical arm (1).
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| CN117464083A (en) * | 2023-12-27 | 2024-01-30 | 酷佧切削技术(四川)有限公司 | Intelligent measurement and control system, method and storage medium for automatic cutting of dry-cutting cold saw |
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