考虑液压扰动的水下机械手空间转角六点测量方法

发布时间：2018-05-06 05:42

本文选题：水下机械手 + 空间角度测量　；参考：《光电子·激光》2017年01期

【摘要】：提出了一种"空间转角六点测量方法",在机械手被测关节上固定六个靶标点,通过立体视觉方法计算出转动起始与结束两个位置的靶标三维中心坐标,先进行液压扰动的位姿矫正,再计算该关节的实际转角,并在此基础上开发了一套完整的基于多目立体视觉的测量系统。通过模拟测量实验,证明了在测量水下机械手的关节转角时,本文提出的"六点测量方法"可有效消除扰动的影响,其中在计算空间角时所采用的投影法优于单位四元数算法,其在空间点测量误差范围为(-2,2)mm的情况下角度测量误差为0.037。最后通过对某型号水下液压机械手关节转角范围的现场测试验证了所提出的测量方法的可行性及其精度。
[Abstract]:In this paper, a "six-point measurement method of spatial rotation angle" is proposed, in which six target points are fixed on the measured joint of the manipulator, and the three-dimensional central coordinates of the target at the starting and ending positions of rotation are calculated by stereo vision method. The position and pose correction of hydraulic disturbance is carried out first, and then the actual rotation angle of the joint is calculated. On this basis, a complete measurement system based on multi-eye stereo vision is developed. Through the simulation measurement experiment, it is proved that the "six-point measurement method" proposed in this paper can effectively eliminate the influence of disturbance when measuring the joint rotation angle of underwater manipulator, and the projection method used in calculating the spatial angle is better than the unit quaternion algorithm. The angle measurement error is 0.037 when the measuring error range of space point is 2 mm. Finally, the feasibility and accuracy of the proposed method are verified by field test on the joint angle range of a certain type of underwater hydraulic manipulator.
【作者单位】：上海大学机电工程与自动化学院;上海市智能制造及机器人重点实验室;国家海洋局第二海洋研究所;
【基金】：国家自然科学基金(41376169,51205243)资助项目
【分类号】：TP391.41;TP241

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