The Research And Application Of Binocular Pose Measurement In All Degrees Of Freedom Guiding Industrial Robot

In the area of industry automation, the vision location guiding robot technology has been long been researched, and applied in some occasions. In the current research and application, there exist some problems. First, the function is limited. Generally, only the location in partial degrees of freedom can be accomplished, or it is needed that the object to be located has some special geometric shapes. Second, the accuracy is low. The error can always reach several millimeters, which is not able to meet the requirements of highly accurate applications. Third, the system is not versatile and user-friendly. It is difficult to design and maintain the system, so the comprehensive cost is high. In this paper, to solve the above problems, a platform of binocular pose measurement in all degrees of freedom guiding robot is researched, and a practical device based on this platform is designed.First according to the basic theory of binocular vision, a practical algorithm to reconstruct points under the condition of errors is proposed, and a fault tolerant pose estimation algorithm is proposed. With these methods, the pose of a rigid body can be measured in all degrees of freedom, no special geometric shapes are needed, and the accuracy and reliability can meet the requirements of industry applications. Second, the theoretical and applied method to control robot based on pose estimation is researched. Through analyzing traditional hand eye calibration method and robot error model, a key factor that cause the error of the system of vision guiding robot is found; according to the law of robot error, an error compensation method that integrate Four Points Hand Eye Calibration and manually teaching robot the expected pose is prosed, which significantly reduces the error of the system. The error in practical applications can be within 0.5mm.Third, through selecting hardware and design software, a versatile and user-friendly platform is build. Based on this platform, the users can do secondary development to design the special device they need. A piece of equipment based on this platform is applied on the production line of Dongfeng Honda Engine Company, which performs better than the similar equipment from abroad.