The Exact Detection Of Joint-type Robotic Trajectory Based On Binocular Vision

The detection and analysis of joint-type robotic trajectory is one of dynamic performance. Due to the inconvenience of contact measurement and the deviation effect which brought about by contact measurement during the process of detection, this essay proposed a motion detection method based on vision and complete the experimental study on the principle in laboratory condition. With the experimental research, joint-type robotic trajectory can be detected exactly by vision method.In this paper, the detect system of robotic trajectory is constructed based on binocular vision. Based on the system,the principle of binocular vision can be analyzed systematically and the calibration of high-speed binocular vision detection can be implemented. The results of the calibration are in line with the camera parameters. By the post-processing data gathered from the high-speed acquisition, the robotic trajectory detection of high-speed binocular vision is completed.. Then the space trajectory of robot and the error curve between fitting trajectory and actual trajectory c can be dealt with.The method which is given by this paper can be used to test robot dynamic performance and support theoretical basis to judge the robotic trajectory Performance .