Research On Key Technology Of Manipulator Measurement Based On Multiocular Vision

In order to meet the needs of full-angle and large-scale measurement,a kind of dome structure was proposed and constructed on the basis of trinocular vision,and a multi-vision measurement system was designed based on the dome structure.The spatial structure characteristics of the dome structure are analyzed,on which the spatial layout and positions of the cameras are determined,and the functional relationship between the spatial structure characteristics of the dome and the measurable region of the multi-vision is established.The parameters such as the distance between the cameras,the distance between the camera and the target object and the shooting angle of the camera are extracted from the spatial structure characteristics and are used as feature parameters to construct the multi-vision model based on the dome structure.The influence of these parameters on the measurement error of the multi-vision is studied and a measurement error formula is established accordingly.Finally,a dome structure based multi-vision measurement model is built,which provides theoretical support for the realization of full-angle and large-scale measurement.Based on the theoretical research of the dome structure,multi-vision measurement error and the kinematics model of the manipulator,a multi?vision based manipulator measurement system is built to complete the location of the manipulator and the measurement of motion error.The feasibility of the dome structure is verified and a new way of thinking is proposed for the measurement of the manipulator based on multi-vision.