关键词: 工业机器人, 轨迹准确度, 立体视觉

Abstract: Aiming at the difficulties in measuring path accuracy of industrial robots, a sensing method based on binocular vision theory is presented. The restriction among point, line and plane in 3D-space are used to get the trajectory pose accuracy measurement model, which is based on line matching technology. Based on this model, the path position deviation and path orientation deviation of an industrial robot are measured. The experimental results indicate that this measuring system is both simple in structure and convenient for the measurement of dynamic path accuracy of industrial robots.

Key words: Industrial robot, Path accuracy, Stereo vision