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针对单目视觉引导双臂机器人在110kV高压环境下执行金具插拔作业进行了分析、研究,提出了以标记点对为基准的单目视觉定位方法。方法通过相机标定和手眼关系标定得到相机内外参数以及相机坐标系和机器人工具坐标系之间关系,通过拍摄具有特定几何位置关系的标记点对,获取到Mark点在双臂机器人基坐标下的位姿,经刚体变换,计算得到拧紧机械臂和夹持机械臂的目标位置,并执行拧紧机械臂拧紧(松开)螺栓动作及插拔机械臂抓取金具进行插拔动作。该方法针对金具装拆作业的特定条件,解决了户外环境光照、背景变化大,机器人和标记点之间相对位置6自由度不确定的问题。
In view of the unilateral visual guidance of the two-arm robot in the 110kV high-pressure environment for the implementation of the work of the gold insertion and removal carried out analysis, research, put forward the point pair as a benchmark for monocular visual positioning method. Methods The relationship between camera internal and external parameters, camera coordinate system and robot tool coordinate system was obtained through camera calibration and hand-eye calibration. By capturing the marker point pairs with specific geometric positions, the position of Mark point under the two-arm robot coordinates After the rigid body is transformed, the target position of the tightening arm and the gripping arm is calculated and the tightening operation (tightening) of the tightening arm (releasing) of the bolt and the tugging of the arm are performed. The method aims at the specific conditions of assembling and disassembling the hardware, and solves the problem of uncertain outdoor environment illumination, large background change, and 6 degrees of freedom of the relative position between the robot and the marking point.