Calibration And Measuring Planning Of Measuring Robot Based On Stereo Vision

Stereo vision measurement is a way which is based on parallax theory obtains three-dimensionalgeometrical information of object from several pictures. Measuring robot can contribute to expandingmeasuring range of visual sensor, increasing the flexibility of measuring equipment and improvingmeasuring efficiency greatly, which are very significant for increasing flexibility requirement ofmodernization production.In this paper, different calibration schemes of measuring robot based on stereo vision are discussed,measuring planning is researched, virtual measurement environment is established, and measuringsimulation and off-line programming are finished. The main content and achievements of this paper areas follows:Calibration of measuring robot is researched. According to the measuring robot workingenvironment and requirements, different calibration schemes are discussed, analyzed and compared,and the subsection calibration scheme is selected ultimately.Hand-eye calibration and external calibration which are two parts of subsection method arediscussed thoroughly. C++programming language is used to realize subsection calibration algorithm inVisual C++6.0environment.Kinematics calibration of measuring robot is completed to further improve the accuracy ofmeasurement. By using five-parameter method which is an amendment of the classical D-H parameters,kinematics modeling of measuring robot is built based on differential kinematics. The method of errormeasuring, parameter identification and error compensation which is finished by using Newtoniterative method is presented.Taking car door as measuring object, measuring planning of measuring robot is researched. UsingImageware and DELMIA software system, the CAD model of every element in measurementenvironment is created. The layout of measurement site is finished and virtual measurementenvironment of measuring robot is established by using these models. In the virtual measuringenvironment, the simulation of measuring path planning and measuring process are finished. As a result,off-line programming is accomplished and RAPID program file is generated.