Research On Measurement Method Of End Position Of Industrial Robot Based On Machine Vision

In recent years,with the increasing application degree and application field of industrial robots in actual production,vision-based posture measurement technology has gradually been paid attention to and widely used.Accurate measurement of the robot's end pose is an important prerequisite for industrial robots to complete their target actions.At a relatively short distance,the monocular vision measurement system has been widely used by virtue of its advantages.Therefore,in-depth research on the monocular vision posture measurement technology is conducive to promoting the development of multi-field technology.In this paper,aiming at the problem that it is difficult to locate the real-time positioning of the probe on the end of the industrial robot,the application of the monocular vision measurement algorithm to the position and attitude measurement of the end probe is studied to obtain the movement trajectory of the end probe of the industrial robot.The main research work of the paper is as follows:(1)Analyzed several existing commonly used industrial robot end pose measurement methods,studied its implementation principles and methods and focused on the monocular vision-based pose measurement algorithm,analyzed and compared the advantages and disadvantages of several pose measurement methods.(2)A pose measurement model based on the coplanar P4 P solution algorithm under isometric constraints is proposed to solve the Pn P problem.For the problem of absolute orientation solution accuracy and solution time,a coplanar P4 P algorithm based on isometric constraints combined with dual quaternions is proposed The position and attitude solution method of the absolute orientation solution algorithm achieves the goal that the experimental system guarantees a certain solution accuracy when the target position and attitude calculation is less time-consuming than the existing method.It is based on the monocular visual measurement of the end of the industrial robot arm.The experiment of probe trajectory has established a theoretical basis.(3)The measuring equipment adopts I-TEK TS4MCL-180 M / C camera,Advantech industrial PC host and high-precision checkerboard target,combined with the host computer software to build the trajectory measuring system of the end probe.(4)Taking the production line industrial robot as the measurement target,the end trajectory measurement of the industrial robot was performed,and the error analysis of the measurement data was performed.The industrial robot end-posture measurement system studied in this paper has perfect functions,simple use,good real-time performance and stability,and has high practical value in the fields of robot positioning,calibration and trajectory tracking.