Base frame calibration for Multi - robot Cooperative Grinding Station by Binocular Vision
文献类型：会议论文
| 作者 | Chengming Ruan; Xing Gu; Youhao Li; Gong Zhang; Weijun Wang; Zhicheng Hou |
| 出版日期 | 2017 |
| 会议日期 | 2017 |
| 英文摘要 | Multi-robot coordination grinding need repetitive calibration of the base frame system, and the robot high-density distribution has brought a certain degree of difficulty for the calibration. This paper proposed a new calibration method based on binocular vision by studying existing non-contact calibration method. Firstly, the calibration of the internal and external parameters of the binocular vision system is carried out, then observing space trajectory of robot end-effectors with binocular vision system. Finally, combined with the coordinate transformation theory, the spatial pose relationship between the two robots’ base frame is obtained by the designed algorithm. The spatial pose transformation matrix between two ABB grinding robots of our laboratory was determined with this method. Reverse validation experiment’s results show that the accuracy of the calibration can reach 0.12mm in three planes of the coordinate axis, and the calibration result is better than other calibration methods. |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11551]  |
| 专题 | 深圳先进技术研究院_南沙所 |
| 作者单位 | 2017 |
| 推荐引用方式 GB/T 7714 | Chengming Ruan,Xing Gu,Youhao Li,et al. Base frame calibration for Multi - robot Cooperative Grinding Station by Binocular Vision[C]. 见:. 2017. |
入库方式： OAI收割
来源：深圳先进技术研究院
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