一种移动加工机器人的视觉定位方法

doi:10.3901/JME.2022.14.025

机械工程学报 ›› 2022, Vol. 58 ›› Issue (14): 25-34.doi: 10.3901/JME.2022.14.025

• 特邀专栏：大型构件视觉测量与机器人加工 • 上一篇下一篇

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一种移动加工机器人的视觉定位方法

付津昇¹, 丁雅斌¹, 刘海涛¹, 肖聚亮¹, 黄田^1,2

1. 天津大学机构理论与装备设计教育部重点实验室天津 300072;
2. 华威大学工学院考文垂 CV4 7AL 英国

收稿日期:2021-10-14 修回日期:2022-02-25 出版日期:2022-07-20 发布日期:2022-09-07
通讯作者: 黄田(通信作者)，男，1953年出生，教授，博士研究生导师，英国华威大学兼职教授。主要研究方向为机器人学，机械系统动力学。E-mail：tianhuang@tju.edu.cn
作者简介:付津昇，1991年出生，博士研究生。主要研究方向为机器人学，组合测量技术。E-mail：fjsh@tju.edu.cn;丁雅斌，1978年出生，副教授，博士研究生导师。主要研究方向为机器视觉，组合测量技术。E-mail：ybding@tju.edu.cn;刘海涛，男，1981年出生，教授，博士研究生导师。主要研究方向为机构学与机器人学。E-mail：liuht@tju.edu.cn;肖聚亮，1977年出生，副教授，博士研究生导师。主要研究方向为液压传动与控制，机器人技术。E-mail：tianjinxjl@163.com
基金资助:
国家自然科学基金(91948301，51775376)和EUH2020-RISE-ECSASDP(734272)资助项目。

Vision Based Approach for Localization of Mobile Machining Robots

FU Jinsheng¹, DING Yabin¹, LIU Haitao¹, XIAO Juliang¹, HUANG Tian^1,2

1. Key Laboratory of Mechanisms Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072;
2. School of Engineering, The University of Warwick, Coventry CV4 7AL, UK

Received:2021-10-14 Revised:2022-02-25 Online:2022-07-20 Published:2022-09-07

摘要/Abstract

摘要： 针对移动机器人多站位加工需求，提出一种在加工现场仅需一次三维视觉测量便可确定移动机器人基坐标系相对工件坐标系位姿的方法。该方法首先利用激光跟踪仪和视觉传感器测量信息分别构造机器人基坐标系相对工件坐标系的齐次变换矩阵；然后以有限位形下后者相对前者偏差的二范数之和最小为目标，辨识机器人全关节运动误差的二次响应面系数。据此，在用视觉传感器获取工件坐标系相对视觉坐标系的位姿后，便可用二次响应面系数修正机器人基坐标系相对工件坐标系的位姿偏差，并通过一次在线视觉测量便可实现移动机器人的快速定位。以一台搭载在AGV上的混联加工机器人为例，通过试验验证了所提出方法的正确性和有效性。

关键词: 移动加工机器人, 运动学标定, 视觉定位

Abstract: In order to meet the needs for large structural component machining in situ, this paper presents a vision based approach for determining the relative pose between the workpiece frame and the base frame of a hybrid robot mounted on an automated guide vehicle(AGV). Drawing mainly on screw theory, the deviation between the poses respectively obtained by a laser tracker and by a 3D vision sensor is modeled as a linear function of the motion errors of the actuated and virtual joints. These motion errors are then approximated by the second-order response surfaces expressed in terms of nominal actuated joint variables, whose coefficients can be estimated by solving a multiple linear regression problem in an off-line manner. Consequently, once the pose of the workpiece frame relative to the vision frame is captured by vision measurements at one pose, the pose of the robot base frame relative to the workpiece frame can be determined in an on-line manner. Experiments on a prototype machine are carried out to verify the effectiveness of the proposed approach.

Key words: mobile machining robots, kinematic calibration, vision localization

中图分类号:

TG156

付津昇, 丁雅斌, 刘海涛, 肖聚亮, 黄田. 一种移动加工机器人的视觉定位方法[J]. 机械工程学报, 2022, 58(14): 25-34.

FU Jinsheng, DING Yabin, LIU Haitao, XIAO Juliang, HUANG Tian. Vision Based Approach for Localization of Mobile Machining Robots[J]. Journal of Mechanical Engineering, 2022, 58(14): 25-34.

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一种移动加工机器人的视觉定位方法

Vision Based Approach for Localization of Mobile Machining Robots

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