CN118181357A - Arm shape measuring method and device for rope-driven flexible robot based on shape of mechanical arm - Google Patents
Arm shape measuring method and device for rope-driven flexible robot based on shape of mechanical arm Download PDFInfo
- Publication number
- CN118181357A CN118181357A CN202410613535.XA CN202410613535A CN118181357A CN 118181357 A CN118181357 A CN 118181357A CN 202410613535 A CN202410613535 A CN 202410613535A CN 118181357 A CN118181357 A CN 118181357A
- Authority
- CN
- China
- Prior art keywords
- arm
- points
- plane
- point
- arc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 64
- 238000005452 bending Methods 0.000 claims abstract description 18
- 206010034701 Peroneal nerve palsy Diseases 0.000 claims abstract description 17
- 239000011159 matrix material Substances 0.000 claims description 28
- 230000009466 transformation Effects 0.000 claims description 18
- 238000000691 measurement method Methods 0.000 claims description 11
- 238000013507 mapping Methods 0.000 claims description 10
- 238000005457 optimization Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 238000005259 measurement Methods 0.000 description 7
- 238000013016 damping Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Landscapes
- Image Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a method and a device for measuring the shape of a rope-driven flexible robot arm based on the shape of the robot arm, wherein the method comprises the following steps: shooting an image of the rope-driven flexible robot; solving the center of each arm lever; solving the positions of all arm rods of the same arm segment in a Cartesian space; fitting planes of the central points of all arm rods of the first arm section and all arm rods of other arm sections respectively, and solving three-dimensional foot drop points and foot drop coordinates from the central points of all arm rods to the fitted planes respectively; converting the three-dimensional foot drop points into points of two-dimensional planes of the corresponding arm sections of the arm rods after fitting, and fitting a two-dimensional plane arc according to the points of the two-dimensional planes; solving the intersection point of the connecting line of each two-dimensional point and the central point of each circular arc and the circular arc; solving the arm lever bending angle of the arm section; solving the bending angle alpha of the arm lever. The method has low requirement on the fitting precision of the arm rod contour, does not influence the solution of the joint angle of the rear section due to the deviation of the solution of the front section, and realizes the decoupling of the solutions of all sections.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for measuring the shape of a rope-driven flexible robot based on the shape of a mechanical arm.
Background
The method has the characteristics of narrow operation space, multiple obstacles and the like in application scenes such as disaster relief, environment detection, equipment overhaul and maintenance. Traditional robots are difficult to complete tasks in the scenes, and flexible rope-driven mechanical arms which are flexible in movement and slim in size can play an important role. The flexible mechanical arm is mainly driven by a rope, however, due to the fact that expansion and contraction exist in the rope driving process, friction resistance and the like of a contact part exist, the kinematics and the dynamics equation of the flexible mechanical arm are complex, actual characteristics of the flexible mechanical arm are difficult to accurately reflect, and therefore the flexible mechanical arm is often difficult to accurately reach an expected given position in the task executing process.
In order to ensure the operation capability of the flexible robot in a complex environment, the shape and the size of the flexible robot are small, and the shape information such as the joint angle of the mechanical arm is difficult to be measured by adding a measuring device such as a joint encoder and the like in the robot, therefore, the position and the gesture of each part of the flexible mechanical arm are necessarily obtained by means of external sensing modes such as vision and the like, thereby realizing the visual closed-loop feedback of the movement process and enabling the movement of the flexible mechanical arm to be more accurate. The currently adopted measuring method mainly installs the two-dimensional code and other cooperative markers on the arm rod of the flexible mechanical arm, but the mode needs to additionally install the typical characteristic of auxiliary measurement on the flexible mechanical arm, the installation precision is difficult to ensure, the motion performance of the flexible mechanical arm can be influenced to a certain extent, and the difficulty of additionally installing the typical characteristic in some working occasions is high. Therefore, it is necessary to study a visual measurement method of natural characteristics of the flexible mechanical arm itself, so that the arm shape of the flexible mechanical arm can be simply and conveniently measured.
Disclosure of Invention
The invention provides a rope-driven flexible robot arm shape measuring method based on a mechanical arm shape, and aims to at least solve one of the technical problems in the prior art.
The technical scheme of the invention is that the method for measuring the arm shape of the rope-driven flexible robot based on the shape of the mechanical arm is applied to the rope-driven flexible robot, the rope-driven flexible robot comprises at least one flexible arm of an arm section and a measuring device, each arm section flexible arm comprises a plurality of arm rods and a plurality of universal joints, the measuring device comprises at least one global binocular camera, the global binocular camera is arranged on the mechanical arm through a fixing device, the global binocular camera comprises a left-eye camera and a right-eye camera, the global binocular camera is used for observing the motion state of the rope-driven flexible robot, and the method comprises the following steps:
S100, shooting an image of the rope-driven flexible robot after the rope-driven flexible robot stops moving based on the global binocular camera;
S200, detecting the positions of all the arm levers based on the images of the rope-driven flexible robot, and solving the centers of all the arm levers to obtain pixel coordinates of the centers of all the arm levers;
S300, solving the positions of all arm levers of the same arm section in Cartesian space based on pixel coordinates of the center points of all arm levers of the same arm section in a left-eye camera and a right-eye camera, wherein the positions in the Cartesian space are positions cPi(xi, yi, zi of the centers of all arm levers in a global binocular camera coordinate system;
S400, respectively fitting planes of central points of all arm bars of a first arm segment and all arm bars of other arm segments by taking each arm segment as a unit, and solving three-dimensional foot drop points and foot drop coordinates from the central points of all arm bars to the fitted planes;
S500, converting the three-dimensional foot hanging points into points of two-dimensional planes of the corresponding arm sections of the arm rods after fitting, and fitting a two-dimensional plane arc according to the points of the two-dimensional planes;
S600, solving the intersection point of the connecting line of each two-dimensional point and the central point of each circular arc and the circular arc, namely solving the nearest point from the circular arc to the two-dimensional point;
S700, taking each arm segment as a unit, uniformly distributing mapping points of all arm rods of the same arm segment on an arc, and solving the bending angle of the arm rod of the same arm segment according to the head-end equivalent mapping points and the arc equation of all arm rods of the same arm segment on the arc;
s800, solving the bending angle alpha of the arm lever according to the normal vector included angle of two planes of the adjacent arm sections.
The invention further provides a rope-driven flexible robot for realizing the method for measuring the arm shape of the rope-driven flexible robot based on the shape of the mechanical arm, and the rope-driven flexible robot comprises:
The flexible arm comprises at least one arm section, wherein each arm section comprises a plurality of arm rods and a plurality of universal joints, and a single arm rod and a single universal joint in each arm section are connected end to end in sequence;
The measuring device comprises at least one global binocular camera, the global binocular camera is installed on the mechanical arm through the fixing device, the global binocular camera comprises a left-eye camera and a right-eye camera, and the global binocular camera is used for observing the motion state of the rope-driven flexible robot.
The beneficial effects of the invention are as follows:
The method comprises the steps of extracting the outline of an arm rod by utilizing natural characteristics of the flexible arm, fitting the center point of the arm rod, solving the position of the center point of the arm rod by extracting the center point of the arm rod in a picture of the flexible arm shot by a binocular camera, further obtaining the position of the arm rod of the flexible arm relative to a base of the mechanical arm, optimizing the position of the arm rod by adopting a multi-layer optimization method such as plane fitting, circular arc fitting, equidistant optimization and the like, solving the joint angle of the mechanical arm by combining the shape characteristics of each section of the mechanical arm, and reconstructing the shape of the mechanical arm. The method has low requirement on arm contour fitting precision and strong adaptability to arm shapes, can be used for rectangular side arm rods or cylindrical arm rods and the like, does not influence the solution of the joint angles of the rear section due to the deviation of the solution of the front section, and realizes the decoupling of the solution of each section.
Drawings
Fig. 1 is a flow chart of a method for measuring the arm shape of a rope-driven flexible robot based on the shape of the mechanical arm.
Fig. 2 is a schematic perspective view of an arm shape measurement system in a rope-driven flexible robot arm shape measurement method based on a mechanical arm shape.
Fig. 3 is a schematic diagram of a flexible arm model and a single-segment flexible arm model in a method for measuring the arm shape of a rope-driven flexible robot based on the shape of the mechanical arm.
Fig. 4 is a schematic diagram of an equivalent joint angle in a method for measuring the arm shape of a rope-driven flexible robot based on the shape of the mechanical arm.
Fig. 5 is a general flow chart of a rope-driven flexible robot arm shape measurement algorithm in a rope-driven flexible robot arm shape measurement method based on a mechanical arm shape.
Fig. 6 is a schematic diagram of fitting a plane according to a single Duan Beigan center point position and projecting an arm center point on the plane in a rope-driven flexible robot arm shape measurement method based on a mechanical arm shape.
Fig. 7 is a schematic diagram of a rope-driven flexible robot arm shape measurement method based on the shape of a mechanical arm, fitting a two-dimensional plane arc and projecting the center point of an arm lever onto the arc.
Fig. 8 is a schematic diagram of evenly distributing projection points of an arm lever on an arc in the arm shape measurement method of the rope-driven flexible robot based on the shape of the mechanical arm.
Fig. 9 is a schematic diagram of a movement effect of a flexible robot in a space in a method for measuring the shape of a rope-driven flexible robot based on the shape of a mechanical arm.
Fig. 10 is a schematic diagram of an extraction effect of a left eye camera on an equivalent center point of a flexible robot arm lever in a rope-driven flexible robot arm shape measurement method based on a mechanical arm shape.
Fig. 11 is a schematic diagram of an extraction effect of a right-eye camera on an equivalent center point of a flexible robot arm lever in a rope-driven flexible robot arm shape measurement method based on a mechanical arm shape.
Detailed Description
The conception, specific structure, and technical effects produced by the present application will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, top, bottom, etc. used in the present invention are merely with respect to the mutual positional relationship of the respective constituent elements of the present invention in the drawings.
Furthermore, 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 terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any combination of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could also be termed a second element, and, similarly, a second element could also be termed a first element, without departing from the scope of the present disclosure.
Referring to fig. 1 to 11, in some embodiments, the technical solution of the present invention is a method and an apparatus for measuring the arm shape of a rope driven flexible robot based on the shape of a mechanical arm, and referring to fig. 1 to 5, the method for measuring the arm shape of a rope driven flexible robot based on the shape of a mechanical arm is applied to a rope driven flexible robot, the rope driven flexible robot includes at least one flexible arm of an arm section and a measuring device, each arm section flexible arm includes a plurality of arm bars and a plurality of universal joints, the measuring device includes at least one global binocular camera, the global binocular camera is mounted on the flexible arm through a fixing device, the global binocular camera includes a left-eye camera and a right-eye camera, and the global binocular camera is used for observing the motion state of the rope driven flexible robot, the method includes the following steps:
S100, shooting an image of the rope-driven flexible robot after the rope-driven flexible robot stops moving based on the global binocular camera;
S200, detecting the positions of all the arm levers based on the images of the rope-driven flexible robot, and solving the centers of all the arm levers to obtain pixel coordinates of the centers of all the arm levers;
S300, solving the positions of all arm levers of the same arm section in Cartesian space based on pixel coordinates of the center points of all arm levers of the same arm section in a left-eye camera and a right-eye camera, wherein the positions in the Cartesian space are positions cPi(xi, yi, zi of the centers of all arm levers in a global binocular camera coordinate system;
S400, respectively fitting planes of central points of all arm bars of a first arm segment and all arm bars of other arm segments by taking each arm segment as a unit, and solving three-dimensional foot drop points and foot drop coordinates from the central points of all arm bars to the fitted planes;
S500, converting the three-dimensional foot hanging points into points of two-dimensional planes of the corresponding arm sections of the arm rods after fitting, and fitting a two-dimensional plane arc according to the points of the two-dimensional planes;
S600, solving the intersection point of the connecting line of each two-dimensional point and the central point of each circular arc and the circular arc, namely solving the nearest point from the circular arc to the two-dimensional point;
S700, taking each arm segment as a unit, uniformly distributing mapping points of all arm rods of the same arm segment on an arc, and solving the bending angle of the arm rod of the same arm segment according to the head-end equivalent mapping points and the arc equation of all arm rods of the same arm segment on the arc;
s800, solving the bending angle alpha of the arm lever according to the normal vector included angle of two planes of the adjacent arm sections.
The beneficial effects of the invention are as follows:
The method comprises the steps of extracting the outline of an arm rod by utilizing natural characteristics of the flexible arm, fitting the center point of the arm rod, solving the position of the center point of the arm rod by extracting the center point of the arm rod in a picture of the flexible arm shot by a binocular camera, further obtaining the position of the arm rod of the flexible arm relative to a base of the mechanical arm, optimizing the position of the arm rod by adopting a multi-layer optimization method such as plane fitting, circular arc fitting, equidistant optimization and the like, solving the joint angle of the mechanical arm by combining the shape characteristics of each section of the mechanical arm, and reconstructing the shape of the mechanical arm. The method has low requirement on arm contour fitting precision and strong adaptability to arm shapes, can be used for rectangular side arm rods or cylindrical arm rods and the like, does not influence the solution of the joint angles of the rear section due to the deviation of the solution of the front section, and realizes the decoupling of the solution of each section.
Compared with the prior art, the invention has the following characteristics:
1) The method comprises the steps that the center point of an arm rod on the mechanical arm on an image plane is extracted, the position of the arm rod in a Cartesian space is calculated through a binocular target position calculation method, and an additional cooperation marker is not required to be added on the mechanical arm;
2) Different from the traditional method for solving the joint angles from the arm positions of the rope-driven flexible robot, the joint angles of the front arm are required to be solved from the root joints of the mechanical arm, after the joint angles of the front arm are solved, the tail end pose of the front arm is reversely calculated by using the joint angles of the front arm, and the joint angles of the rear arm are solved on the basis, and the method causes errors in front-section solving to be accumulated to rear-section joint angle solving, and the errors are larger and larger due to series solving. The joint angles are solved respectively in each section of the patent, the joint angle solving between each section is not affected, and the phenomenon of error accumulation can not occur.
3) After the positions of the mechanical arm rods in the Cartesian space are visually detected, the positions of the same-section arm rods of the mechanical arm are combined to be in the same plane, the positions of the same-section arm rods meet the same curvature assumption and other properties, and after plane fitting and arm rod position optimization, circular arc fitting and arm rod position optimization, equidistant distribution and arm rod position optimization are optimized in multiple layers, errors of visual detection can be made up, and detection and fitting accuracy can be improved.
Further, referring to fig. 1 to 5, in the step S300, the pixel coordinates of all arm center points of the same arm segment at the left eye camera are:
Wherein [ u l,vl,1]T ] is the coordinate of the arm center point in the left-eye camera image coordinate system, Z cl is the Z-axis coordinate of the arm center point in the left-eye camera coordinate system, [ cPi,xi, cPi,yi, cPi,zi,1]T ] is the coordinate of the arm center point in the global binocular camera coordinate system, [ u 0,v0 ] is the coordinate of the image plane center, dx and dy are the physical width and height corresponding to each pixel of the left-eye camera imaging element in the x and y directions respectively, wherein the units of the width and height are millimeters, f x、fy is the focal length of the left-eye camera in the x and y directions, R 3x3 is the posture matrix of the global binocular coordinate system relative to the left-eye camera coordinate system, t 3x1 is the position transformation matrix of the global binocular coordinate system relative to the left-eye camera coordinate system, and m ij l is the parameter obtained by multiplying the transformation matrices;
the pixel coordinates of the center points of all arm levers of the same arm section on the right eye camera are as follows:
Wherein [ u r,vr,1]T ] is the coordinate of the arm center point in the right-eye camera image coordinate system, [ X cr,Ycr,Zcr,1]T ] is the coordinate of the arm center point in the right-eye camera coordinate system, [ cPi,xi, cPi,yi, cPi,zi,1]T ] is the coordinate of the arm center point in the global binocular camera coordinate system, and m ij r is the parameter obtained by multiplying each transformation matrix;
the pixel coordinates of the center points of all arm levers of the same arm section in the left-eye camera and the right-eye camera can be obtained by combining:
Based on least square method, solving position of arm lever in global binocular camera coordinate system According to the pose relation/>, between a pre-calibrated global binocular camera coordinate system and a mechanical arm basePosition cPi(xi, yi, zi of the arm in the global binocular camera coordinate system) to a position/>, of the arm center in the mechanical arm base coordinate system：
Wherein,Is a transformation matrix of a camera coordinate system relative to a mechanical arm base coordinate system,/>For the arm position in the global binocular camera coordinate system,/>The position of the arm center in the robot arm base coordinate system is measured for vision.
Further, referring to fig. 1 to 5, in the step S400,
For all arms of the first arm segment, since the starting point of all arms of the first arm segment passes through the origin of the arm coordinate system, the plane in which the center points of all arms of the first arm segment are fitted is actually the fit straight line equation ax+by=0:
therefore, based on the least square method, the parameters a and b of the linear equation are solved, i.e., the following equation is made to take the minimum value:
Wherein a and b are parameters of the linear equation ax+by=0, respectively;
Solving the above equation by using Lagrangian multiplier method, namely:
Wherein λ is the lagrange multiplier;
And (3) after simplification, obtaining:
Wherein, The average value of the coordinates of the central points of all arm rods of the first section of mechanical arm, [ x i yi ] is the coordinate of the central point of each arm rod of the first section of mechanical arm;
The method is characterized in that the method is obtained by solving the eigenvalues:
And (3) solving to obtain:
；
the plane equation ax+by+cz+d=0 where the center points of all arms of the arm segment are located is fitted to all arms of the other arm segments except all arms of the first arm segment:
wherein a, b, c and d are parameters of the plane equation ax+by+cz+d=0;
Average value of each point is Then:
wherein, A= [ ab c ] T is the plane equation parameter combination;
Solving parameters a, b and c of a plane equation by using a least square method, wherein an objective function is min Ax,
Solving the above formula based on SVD:
A = UDVT ，
wherein U is a left singular vector matrix, which is an orthogonal matrix, D is a diagonal matrix, and V is a right singular vector matrix, which is an orthogonal matrix;
the last column with [ ab c ] T V can be found.
Further, referring to fig. 6, in the step S400, three-dimensional foot drop points and foot drop coordinates of the arm center points to the fitted plane are obtained, and because of errors in detection of the arm center points, all the detected arm center points are not in the plane, foot drop coordinates of the arm center points (x y z) to the fitted plane ax+by+cz+d=0 are obtained, and updated to the arm center point Q i(xqi, yqi, zqi), and the calculation formula is as follows:
wherein [ a b c d ] is a parameter of a plane obtained by fitting, and (x y z) is the arm center point coordinate.
Further, referring to fig. 7, in the step S500, the flexible arm of the rope-driven flexible robot follows an equal curvature assumption, that is, all the arm levers corresponding to the same arm section are bent to form a section of circular arc on the sphere, and for the space circle, the following equation is satisfied:
Wherein, (x 0, y0, z0) is the center of a sphere, and r is the radius of the sphere;
the space arc is obtained by intersecting a plane and a sphere, the space arc is converted into a plane arc, and the equation for obtaining the plane arc is as follows:
Wherein (x 0, y0) is the center of the plane arc, and r is the radius of the plane arc;
To achieve this transformation, a transformation relationship between the two-dimensional plane z=0 and the arm center point fitting plane ax+by+cz+d=0 is obtained, first, a rotation matrix between the two-dimensional plane normal vector t 0 = [ 01 ] and the target plane normal vector t i = [ a b c ] is obtained, and the included angle θ between t 0 and t i is calculated by using the rodgers rotation formula:
the rotation axis k i rotated from t 0 to t i is calculated:
Thus, the rotation transformation matrix R i rotated from t 0 to t i is:
Wherein I is a 3x3 identity matrix;
Thus, the conversion of point Q 0(xq0, yq0, 0) on the two-dimensional plane z=0 to point Q i(xqi, yqi, zqi) on the arm center point fitting plane ax+by+cz+d=0) is:
Wherein d is a parameter in a fitting plane ax+by+cz+d=0, 0Ti is a homogeneous transformation matrix from a two-dimensional plane coordinate system calculated by R i to the fitting plane ax+by+cz+d=0;
Thus, the transformation of the foot drop of the arm in the fitting plane to a point on the two-dimensional plane is:
。
further, referring to fig. 7, in the step S500, a two-dimensional plane arc is fitted according to the points of the two-dimensional plane, a point set of the center point of each arm lever of each arm section of the mechanical arm on the two-dimensional plane is set as M, an arc on the plane is fitted according to the point set M, and an arc equation is as follows:
For the mechanical arm of each arm segment, assuming that each arm segment comprises four arm rods and four universal joints, five arm rod center points in total can be used for solving a fitting circular arc, wherein the five arm rod center points comprise four arm rod center points of the current arm segment and the center point of the last arm rod of the last arm segment connected with the current arm segment, and the five arm rod center points are formed into a nonlinear equation set:
wherein, (x i yi) is the coordinates of the center points of the five arm levers on a two-dimensional plane;
Then the best fit arc is solved, i.e., the following equation is solved:
based on the Levenberg-Marquardt method (LM method), the arc parameter x= [ ab c ] is solved.
Specifically, the solution is divided into the following steps:
s510, setting an initial value of a parameter: the number of cycles k=0, x 0 = [a0 b0 c0 ] = [ 000 ], the parameter v=2 for solving the damping coefficient μ;
s520, constructing a jacobian matrix J between F (X) and x= [ a b c ] as follows:
S530, solving for h=j TJ,g = JTf,μ = max{Hii;
S540, when the G is less than ɛ 1, converging to the optimal arc parameter, solving is completed, otherwise, not converging to the optimal arc coefficient, when the cycle number k does not exceed the threshold value, continuing to solve, otherwise solving fails, enabling G=H+mu I, and solving the increment H of a, b and c according to the following formula:
Because G is a positive definite matrix, carrying out LDLT decomposition on G and solving h;
s550, when h < ɛ 2(||x|| + ɛ2), x= [ ab c ] is the arc parameter required, otherwise x=x+h, calculate:
S560, if Q > 0, damping coefficient μ=μ×max {1/3,1- (2Q-1) 3 }, v=2, if Q <0, damping coefficient μ=μ×v, v=2v;
S570, repeating the steps S520 to S560 until the solving of the arc parameter x= [ a b c ] is successful, or the number of times of circulation reaches a threshold value, and solving fails;
after the arc parameter solving is completed, an arc equation C is obtained as follows:
Wherein (x 0, y0) is the center of a plane arc, r is the radius of the plane arc, and [ a b c ] is the arc equation obtained by solving the steps Is included in the parameters.
Further, referring to fig. 7, in the step S600, because of the error in image detection, each two-dimensional point does not overlap with the fitted arc, to ensure that the two-dimensional point is on the arc, the closest point from the arc to the two-dimensional point is calculated, that is, the intersection point between each two-dimensional point and the arc center point is calculated, and the following two sets of solutions are calculated according to the arc equation C and the projection point [ x q0, yq0 ] of the arm center point on the two-dimensional plane, the projection point [ x z yz ] of the arm center point on the arc:
Wherein [ x 0, y0 ] is the center coordinates of the arc, r is the radius of the arc, and [ x z1 yz1 ] and [ x z2 yz2 ] are the coordinates of two projection points of [ x q0, yq0 ] on the arc;
And judging which group of solutions are target solutions according to the distances between [ x z1 yz1 ] and [ x z2 yz2 ] and [ x q0, yq0 ], and assigning points with closer distances to [ x z yz ] as projection points of the two-dimensional points on the circular arc.
Further, referring to fig. 8, in the step S700, in each arm segment, the mapping points of all the arms of the same arm segment on the circular arc are uniformly distributed on the circular arc, and ideally, the center points of all the arms should be uniformly distributed on the fitted circular arc, so that the projection points of the two-dimensional points obtained in the previous step on the circular arc are uniformly distributed on the circular arc, the coordinates of the projection points of the center points of all the arms on the circular arc are [ x zi yzi ] (i=1, 2,3,4, 5), and the coordinates of the center points x coordinate are calculated according to the coordinates of the center points x zi yzi' ]:
wherein, [ x zi yzi ] (i=1, 2,3,4, 5) is the projection point coordinate of the center point of each arm lever on the circular arc, [ x 0, y0 ] is the center coordinate of the circular arc, and r is the radius of the circular arc;
And determining which solution is adopted according to the difference between y zi' and y zi, wherein the arm rod center points are uniformly distributed on the circular arc, and the optimization condition is that the distances between the center points of the adjacent two arm rods are equal, which is equivalent to solving the following formula:
Wherein [ x i' yi' ] is the coordinate of the fitting point of the arm lever central point [ x zi yzi ] on the circular arc in the fitting process, D i is the distance between the central points of two adjacent arm levers, epsilon is the searching range of x i, and the patent generally adopts a range of +/-5 mm;
Solving the above formula by using a PSO method to obtain a fitted arm lever center point coordinate of [ x pi ypi ] (i=1, 2,3,4, 5);
In the step S700, according to the first-last equivalent mapping points and the arc equation of all the arm levers of the same arm segment on the arc, the solving the arm lever bending angle of the arm segment includes:
The bending angle of the mechanical arm of the current arm section is determined by utilizing the arm rod center point, and the bending angle beta of the mechanical arm of the current arm section is solved according to the arm rod start-stop center point coordinates [ x p1yp1]、[xp5 yp5 ], namely the first section of arm rod and the fifth section of arm rod center point coordinates for solving the bending angle of the current section and the circular arc center point coordinates [ x i0 yi0 ] fitted by the arm rod, wherein the solving formula is as follows:
Wherein [ x p1 yp1 ] and [ x p5 yp5 ] are coordinates of a start and stop central point of the arm rod, and [ x i0 yi0 ] is coordinates of a circle center of an arc fitted by the arm rod.
Further, referring to fig. 1 to 5, in the step S800, the arm bending angle α is:
wherein, [ a i bi ci ] is the normal vector of the fitting plane of the front-section mechanical arm, and [ a i+1 bi+1 ci+1 ] is the normal vector of the fitting plane of the mechanical arm, and for the first plane, the normal vector of the front-section plane is [ 01 ] of the first plane.
Further, referring to fig. 1 to 5, the present invention further proposes a rope-driven flexible robot for implementing the method for measuring the arm shape of the rope-driven flexible robot based on the shape of the mechanical arm, the rope-driven flexible robot comprising:
The flexible arm comprises at least one arm section, wherein each arm section comprises a plurality of arm rods and a plurality of universal joints, and a single arm rod and a single universal joint in each arm section are connected end to end in sequence;
The measuring device comprises at least one global binocular camera, the global binocular camera is installed on the flexible arm through a fixing device, the global binocular camera comprises a left-eye camera and a right-eye camera, and the global binocular camera is used for observing the motion state of the rope-driven flexible robot.
Specifically, the fixing device may be a fixed base, such as a fixed support, or a movable base, such as a movable base mounted at the tail end of another mechanical arm, where the mechanical arm movement can drive the global camera to move, so as to cooperate with the flexible robot arm shape measurement.
Specifically, referring to fig. 2, the object of measurement in the technical scheme of the invention is a rope-driven flexible mechanical arm, the arm lever adopts a cylindrical tool, and the algorithm is also applicable to tools of other shapes. The binocular camera serves as a global camera for observing the arm section of the flexible arm and taking a picture of the flexible arm, and can be fixedly connected to a fixed carrier or fixed on a movable carrier, such as the tail end of other mechanical arms.
Referring to fig. 3, in a specific embodiment, for a flexible robot, which is mainly composed of a driving box and a robot arm body, the robot arm body is divided into 4 large segments in total, each segment of the robot arm comprises 4 arm bars and 4 universal joints, each universal joint has 1 pitching degree of freedom and 1 yawing degree of freedom, the robot arm is driven by a rope, one end of the driving rope is connected to the inside of the driving box, the driving rope is pulled by a motor to drive the robot arm to move, and after the driving rope is led out from the driving box, the driving rope starts from the root arm bar of the robot arm, passes through a wiring hole of each arm bar from the root arm bar to the target arm bar and is fixed on the target arm bar to be driven. Each section arm passes through 3 drive ropes drive, because each section contains 8 degrees of freedom altogether of 4 universal joints, and in order to guarantee that 4 every single move degrees of freedom and 4 yaw degrees of freedom motion angles are the same respectively, have added the linkage rope on joint and the armed lever, can guarantee that every big section arm in every single move angle and yaw angle are the same respectively.
Referring to fig. 4, each segment of the robotic arm has 4 pitch angles and 4 yaw angles (equal, respectively), i.e., 4 rotational axes about the y-axis and 4 rotational axes about the z-axis. Because the mechanical arm obeys the equal curvature assumption, namely the single-section mechanical arm can be equivalent to 1 circular arc, the center points of all arm rods on the single-section mechanical arm are uniformly distributed on 1 circular arc, and according to the equivalent analysis, the single-section mechanical arm can be equivalent to 1 rolling degree of freedom and 4 yaw degrees of freedom, and the 4 yaw angles are equal.
Referring to fig. 9, the motion effect of the mechanical arm is shown, the mechanical arm has 4 segments, and after the 4 universal joints of each segment rotate, the arm rod can form a segment of arc. The detection object of the arm shape measuring method is a cylindrical shell tool of an arm rod.
Referring to fig. 10 to 11, the rope-driven flexible robot is observed by using the left and right eye cameras in the global camera, and it can be seen that the method for measuring the equivalent center point of the arm lever by using the vision in the patent is very accurate, and the pixel coordinates of the arm lever in the image plane can be accurately obtained. The fitting error of the equivalent center points of the 16-section arm rod is shown in table 1, table 1 is the extraction error of the equivalent center points of the arm rod by the method, and the position measurement error of the equivalent center points of the arm rod obtained by the method is smaller than 7mm, so that the measurement accuracy is higher.
Table 1:
The present invention is not limited to the above embodiments, but can be modified, equivalent, improved, etc. by the same means to achieve the technical effects of the present invention, which are included in the spirit and principle of the present disclosure. Are intended to fall within the scope of the present invention. Various modifications and variations are possible in the technical solution and/or in the embodiments within the scope of the invention.
Claims (10)
1. The utility model provides a rope drives flexible robot arm shape measuring method based on arm shape, is applied on rope drives flexible robot, rope drives flexible robot and includes flexible arm and measuring device of at least one arm section, and each arm section flexible arm includes a plurality of armed levers and a plurality of universal joint, measuring device includes at least one global binocular camera, global binocular camera passes through fixing device and installs on the arm, global binocular camera includes left eye camera and right eye camera, global binocular camera is used for observing rope and drives flexible robot's motion state, its characterized in that, the method include the following steps:
S100, shooting an image of the rope-driven flexible robot after the rope-driven flexible robot stops moving based on the global binocular camera;
S200, detecting the positions of all the arm levers based on the images of the rope-driven flexible robot, and solving the centers of all the arm levers to obtain pixel coordinates of the centers of all the arm levers;
S300, solving the positions of all arm levers of the same arm section in Cartesian space based on pixel coordinates of the center points of all arm levers of the same arm section in a left-eye camera and a right-eye camera, wherein the positions in the Cartesian space are positions cPi(xi, yi, zi of the centers of all arm levers in a global binocular camera coordinate system;
S400, respectively fitting planes of central points of all arm bars of a first arm segment and all arm bars of other arm segments by taking each arm segment as a unit, and solving three-dimensional foot drop points and foot drop coordinates from the central points of all arm bars to the fitted planes;
S500, converting the three-dimensional foot hanging points into points of two-dimensional planes of the corresponding arm sections of the arm rods after fitting, and fitting a two-dimensional plane arc according to the points of the two-dimensional planes;
S600, solving the intersection point of the connecting line of each two-dimensional point and the central point of each circular arc and the circular arc, namely solving the nearest point from the circular arc to the two-dimensional point;
S700, taking each arm segment as a unit, uniformly distributing mapping points of all arm rods of the same arm segment on an arc, and solving the bending angle of the arm rod of the same arm segment according to the head-end equivalent mapping points and the arc equation of all arm rods of the same arm segment on the arc;
s800, solving the bending angle alpha of the arm lever according to the normal vector included angle of two planes of the adjacent arm sections.
2. The method for measuring the arm shape of the rope-driven flexible robot based on the arm shape according to claim 1, wherein in the step S300, the pixel coordinates of the center points of all the arms of the same arm segment at the left-eye camera are:
，
Wherein [ u l,vl,1]T ] is the coordinate of the arm center point in the left-eye camera image coordinate system, Z cl is the Z-axis coordinate of the arm center point in the left-eye camera coordinate system, [ cPi,xi, cPi,yi, cPi,zi,1]T ] is the coordinate of the arm center point in the global binocular camera coordinate system, [ u 0,v0 ] is the coordinate of the image plane center, dx and dy are the physical width and height corresponding to each pixel of the left-eye camera imaging element in the x and y directions respectively, wherein the units of the width and height are millimeters, f x、fy is the focal length of the left-eye camera in the x and y directions, R 3x3 is the posture matrix of the global binocular coordinate system relative to the left-eye camera coordinate system, t 3x1 is the position transformation matrix of the global binocular coordinate system relative to the left-eye camera coordinate system, and m ij l is the parameter obtained by multiplying the transformation matrices;
the pixel coordinates of the center points of all arm levers of the same arm section on the right eye camera are as follows:
，
Wherein [ u r,vr,1]T ] is the coordinate of the arm center point in the right-eye camera image coordinate system, [ X cr,Ycr,Zcr,1]T ] is the coordinate of the arm center point in the right-eye camera coordinate system, [ cPi,xi, cPi,yi, cPi,zi,1]T ] is the coordinate of the arm center point in the global binocular camera coordinate system, and m ij r is the parameter obtained by multiplying each transformation matrix;
the pixel coordinates of the center points of all arm levers of the same arm section in the left-eye camera and the right-eye camera can be obtained by combining:
，
Based on least square method, solving position of arm lever in global binocular camera coordinate system According to the pose relation/>, between a pre-calibrated global binocular camera coordinate system and a mechanical arm basePosition cPi(xi, yi, zi of the arm in the global binocular camera coordinate system) to a position/>, of the arm center in the mechanical arm base coordinate system：
，
Wherein,Is a transformation matrix of a camera coordinate system relative to a mechanical arm base coordinate system,/>For the arm position in the global binocular camera coordinate system,/>The position of the arm center in the robot arm base coordinate system is measured for vision.
3. The method for measuring the arm shape of a rope driven flexible robot based on the arm shape of claim 1, wherein in the step S400,
For all arms of the first arm segment, since the starting point of all arms of the first arm segment passes through the origin of the arm coordinate system, the plane in which the center points of all arms of the first arm segment are fitted is actually the fit straight line equation ax+by=0:
，
therefore, based on the least square method, the parameters a and b of the linear equation are solved, i.e., the following equation is made to take the minimum value:
，
Wherein a and b are parameters of the linear equation ax+by=0;
Solving the above equation by using Lagrangian multiplier method, namely:
，
Wherein λ is the lagrange multiplier;
And (3) after simplification, obtaining:
，
Wherein, The average value of the coordinates of the central points of all arm rods of the first section of mechanical arm, [ x i yi ] is the coordinate of the central point of each arm rod of the first section of mechanical arm;
The method is characterized in that the method is obtained by solving the eigenvalues:
，
And (3) solving to obtain:
；
the plane equation ax+by+cz+d=0 where the center points of all arms of the arm segment are located is fitted to all arms of the other arm segments except all arms of the first arm segment:
，
wherein a, b, c and d are parameters of the plane equation ax+by+cz+d=0;
Average value of each point is Then:
，
Wherein, A= [ ab c ] T is the plane equation parameter combination;
Solving parameters a, b and c of a plane equation by using a least square method, wherein an objective function is min Ax,
Solving the above formula based on SVD:
A = UDVT ，
wherein U is a left singular vector matrix, which is an orthogonal matrix, D is a diagonal matrix, and V is a right singular vector matrix, which is an orthogonal matrix;
Then the last column with [ ab c ] T V is found.
4. The method for measuring the arm shape of the rope-driven flexible robot based on the arm shape according to claim 1, wherein in the step S400, three-dimensional foot drop points and foot drop coordinates from the center point of each arm to the fitted plane are obtained, and due to errors in detecting the center point of each arm, the detected center points of the arm are not all in the plane, foot drop coordinates from the center point (x y z) of each arm to the fitted plane ax+by+cz+d=0 are obtained, and updated to the center point Q i(xqi, yqi, zqi of the arm according to the following calculation formula:
，
wherein [ a b c d ] is a parameter of a plane obtained by fitting, and (x y z) is the arm center point coordinate.
5. The arm shape measurement method of the rope-driven flexible robot based on the arm shape according to claim 1, wherein in the step S500, the flexible arm of the rope-driven flexible robot follows an equal curvature assumption, that is, after all the arm bars corresponding to the same arm segment are bent, a section of arc on the sphere is formed, and for the space circle, the following equation is satisfied:
，
Wherein, (x 0, y0, z0i) is the center of a sphere, and r is the radius of the sphere;
the space arc is obtained by intersecting a plane and a sphere, the space arc is converted into a plane arc, and the equation for obtaining the plane arc is as follows:
，
Wherein (x 0, y0) is the center of the plane arc, and r is the radius of the plane arc;
To achieve this transformation, a transformation relationship between the two-dimensional plane z=0 and the arm center point fitting plane ax+by+cz+d=0 is obtained, first, a rotation matrix between the two-dimensional plane normal vector t 0 = [ 01 ] and the target plane normal vector t i = [ a b c ] is obtained, and the included angle θ between t 0 and t i is calculated by using the rodgers rotation formula:
，
the rotation axis k i rotated from t 0 to t i is calculated:
，
Thus, the rotation transformation matrix R i rotated from t 0 to t i is:
，
Wherein I is a 3x3 identity matrix;
Thus, the conversion of point Q 0(xq0, yq0, 0) on the two-dimensional plane z=0 to point Q i(xqi, yqi, zqi) on the arm center point fitting plane ax+by+cz+d=0) is:
，
Wherein d is a parameter in a fitting plane ax+by+cz+d=0, 0Ti is a homogeneous transformation matrix from a two-dimensional plane coordinate system calculated by R i to the fitting plane ax+by+cz+d=0;
Thus, the transformation of the foot drop of the arm in the fitting plane to a point on the two-dimensional plane is:
。
6. the arm shape measurement method of the rope-driven flexible robot based on the arm shape of claim 1, wherein in the step S500, a two-dimensional plane arc is fitted according to points of the two-dimensional plane, a point set of a center point of each arm lever of each arm section of the mechanical arm on the two-dimensional plane is set as M, an arc on the plane is fitted according to the point set as M, and an arc equation is:
，
For the mechanical arm of each arm segment, assuming that each arm segment comprises four arm rods and four universal joints, five arm rod center points in total can be used for solving a fitting circular arc, wherein the five arm rod center points comprise four arm rod center points of the current arm segment and the center point of the last arm rod of the last arm segment connected with the current arm segment, and the five arm rod center points are formed into a nonlinear equation set:
，
wherein, (x i yi) is the coordinates of the center points of the five arm levers on a two-dimensional plane;
Then the best fit arc is solved, i.e., the following equation is solved:
，
based on the Levenberg-Marquardt method (LM method), the arc parameter x= [ ab c ] is solved.
7. The arm shape measurement method of the rope-driven flexible robot based on the arm shape according to claim 1, wherein in the step S600, because of errors in image detection, each two-dimensional point does not coincide with a fitted circular arc, in order to ensure that the two-dimensional points are on the circular arc, the closest point from the circular arc to the two-dimensional point is calculated, that is, the intersection point between each two-dimensional point and the circular arc center point is calculated, and the following two solutions are calculated according to the circular arc equation C and the projection point [ x q0, yq0 ] of the arm center point on the two-dimensional plane, and the projection point [ x z yz ] of the arm center point on the circular arc:
，
Wherein [ x 0, y0 ] is the center coordinates of the arc, r is the radius of the arc, and [ x z1 yz1 ] and [ x z2 yz2 ] are the coordinates of two projection points of [ x q0, yq0 ] on the arc;
And judging which group of solutions are target solutions according to the distances between [ x z1 yz1 ] and [ x z2 yz2 ] and [ x q0, yq0 ], and assigning points with closer distances to [ x z yz ] as projection points of the two-dimensional points on the circular arc.
8. The method for measuring the arm shape of the rope-driven flexible robot based on the shape of the mechanical arm according to claim 1, wherein in the step S700, taking each arm segment as a unit, the mapping points of all the arms of the same arm segment on the circular arc are uniformly distributed on the circular arc, and ideally, the center points of all the arms should be uniformly distributed on the fitted circular arc, so that the projection points of the two-dimensional points solved in the previous step on the circular arc are uniformly distributed on the circular arc, the coordinates of the projection points of the center points of all the arms on the circular arc are [ x zi yzi ] (i=1, 2,3,4, 5), and the coordinate points [ x zi yzi' ] on the circular arc are solved according to the x coordinates of all the center points:
，
wherein, [ x zi yzi ] (i=1, 2,3,4, 5) is the projection point coordinate of the center point of each arm lever on the circular arc, [ x 0, y0 ] is the center coordinate of the circular arc, and r is the radius of the circular arc;
And determining which solution is adopted according to the difference between y zi' and y zi, wherein the arm rod center points are uniformly distributed on the circular arc, and the optimization condition is that the distances between the center points of the adjacent two arm rods are equal, which is equivalent to solving the following formula:
，
Wherein [ x i' yi' ] is the coordinate of the fitting point of the arm lever central point [ x zi yzi ] on the circular arc in the fitting process, D i is the distance between the central points of two adjacent arm levers, and epsilon is the searching range of x i;
Solving the above formula by using a PSO method to obtain a fitted arm lever center point coordinate of [ x pi ypi ] (i=1, 2,3,4, 5);
In the step S700, according to the first-last equivalent mapping points and the arc equation of all the arm levers of the same arm segment on the arc, the solving the arm lever bending angle of the arm segment includes:
The bending angle of the mechanical arm of the current arm section is determined by utilizing the arm rod center point, and the bending angle beta of the mechanical arm of the current arm section is solved according to the arm rod start-stop center point coordinates [ x p1 yp1]、[xp5 yp5 ], namely the first section of arm rod and the fifth section of arm rod center point coordinates for solving the bending angle of the current section and the circular arc center point coordinates [ x i0 yi0 ] fitted by the arm rod, wherein the solving formula is as follows:
，
Wherein [ x p1 yp1 ] and [ x p5 yp5 ] are coordinates of a start and stop central point of the arm rod, and [ x i0 yi0 ] is coordinates of a circle center of an arc fitted by the arm rod.
9. The method for measuring the arm shape of the rope-driven flexible robot based on the arm shape according to claim 1, wherein in the step S800, the arm bending angle α is:
，
wherein, [ a i bi ci ] is the normal vector of the fitting plane of the front-section mechanical arm, and [ a i+1 bi+1 ci+1 ] is the normal vector of the fitting plane of the mechanical arm, and for the first plane, the normal vector of the front-section plane is [ 01 ] of the first plane.
10. A rope driven flexible robot for realizing the method for measuring the arm shape of the rope driven flexible robot based on the shape of the mechanical arm according to any one of claims 1 to 9, characterized in that the rope driven flexible robot comprises:
The flexible arm comprises at least one arm section, wherein each arm section comprises a plurality of arm rods and a plurality of universal joints, and a single arm rod and a single universal joint in each arm section are connected end to end in sequence;
The measuring device comprises at least one global binocular camera, the global binocular camera is arranged on the mechanical arm through the fixing device, the global binocular camera comprises a left-eye camera and a right-eye camera, and the global binocular camera is used for observing the motion state of the rope-driven flexible robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410613535.XA CN118181357B (en) | 2024-05-17 | 2024-05-17 | Arm shape measuring method and device for rope-driven flexible robot based on shape of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410613535.XA CN118181357B (en) | 2024-05-17 | 2024-05-17 | Arm shape measuring method and device for rope-driven flexible robot based on shape of mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118181357A true CN118181357A (en) | 2024-06-14 |
| CN118181357B CN118181357B (en) | 2024-07-16 |
Family
ID=91405472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410613535.XA Active CN118181357B (en) | 2024-05-17 | 2024-05-17 | Arm shape measuring method and device for rope-driven flexible robot based on shape of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118181357B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010027541A (en) * | 1999-09-14 | 2001-04-06 | 윤종용 | Apparatus and Method for viewing optimal three dimentional image of surgical instrument for automatic controlling the position of the endoscope in Minimally Invasive Surgery |
| CN102646148A (en) * | 2012-04-25 | 2012-08-22 | 浙江大学 | Motion trajectory planning method of mechanical arm of humanoid robot for preventing collision |
| CN102778886A (en) * | 2012-03-20 | 2012-11-14 | 北京空间飞行器总体设计部 | Planar simulation and verification platform for four-degree-of-freedom robot arm control system |
-
2024
- 2024-05-17 CN CN202410613535.XA patent/CN118181357B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010027541A (en) * | 1999-09-14 | 2001-04-06 | 윤종용 | Apparatus and Method for viewing optimal three dimentional image of surgical instrument for automatic controlling the position of the endoscope in Minimally Invasive Surgery |
| CN102778886A (en) * | 2012-03-20 | 2012-11-14 | 北京空间飞行器总体设计部 | Planar simulation and verification platform for four-degree-of-freedom robot arm control system |
| CN102646148A (en) * | 2012-04-25 | 2012-08-22 | 浙江大学 | Motion trajectory planning method of mechanical arm of humanoid robot for preventing collision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118181357B (en) | 2024-07-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110421562B (en) | Mechanical arm calibration system and calibration method based on four-eye stereoscopic vision | |
| CN107139178B (en) | Unmanned aerial vehicle and vision-based grabbing method thereof | |
| JP7237483B2 (en) | Robot system control method, control program, recording medium, control device, robot system, article manufacturing method | |
| CN110116407B (en) | Flexible robot position and posture measuring method and device | |
| CN107883929B (en) | Monocular vision positioning device and method based on multi-joint mechanical arm | |
| KR101988083B1 (en) | Systems and methods for tracking location of movable target object | |
| CN111775146A (en) | Visual alignment method under industrial mechanical arm multi-station operation | |
| US9517560B2 (en) | Robot system and calibration method of the robot system | |
| CN112833786B (en) | Cabin attitude and pose measuring and aligning system, control method and application | |
| WO2023193362A1 (en) | Hybrid robot and three-dimensional vision based large-scale structural part automatic welding system and method | |
| CN108827264B (en) | Mobile workbench and its mechanical arm optics target positioning device and localization method | |
| WO2018043525A1 (en) | Robot system, robot system control device, and robot system control method | |
| CN111300384B (en) | Registration system and method for robot augmented reality teaching based on identification card movement | |
| CN110919658B (en) | Robot calibration method based on vision and multi-coordinate system closed-loop conversion | |
| Xu et al. | Vision-based simultaneous measurement of manipulator configuration and target pose for an intelligent cable-driven robot | |
| JPWO2019146201A1 (en) | Information processing equipment, information processing methods and information processing systems | |
| CN105843166B (en) | A kind of special type multiple degrees of freedom automatic butt jointing device and its working method | |
| CN115446847A (en) | System and method for improving 3D eye-hand coordination accuracy of a robotic system | |
| CN111238367B (en) | Three-dimensional arm shape measuring method and device for rope-driven mechanical arm | |
| TWI708667B (en) | Method and device and system for calibrating position and orientation of a motion manipulator | |
| JP2004030445A (en) | Method, system, and program for estimating self-position of moving robot | |
| CN113500584A (en) | Tail end error correction system and method of three-degree-of-freedom parallel robot | |
| CN118181357B (en) | Arm shape measuring method and device for rope-driven flexible robot based on shape of mechanical arm | |
| CN112381881A (en) | Monocular vision-based automatic butt joint method for large rigid body component | |
| CN111283664A (en) | Registration system and method for robot augmented reality teaching |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |