| 并联机构位姿视觉测量的特征点定位偏差补偿 |
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| 引用本文： | 郭玉波,姚郁,遆晓光.并联机构位姿视觉测量的特征点定位偏差补偿[J].传感器与微系统,2007,26(9):23-25,28. |
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| 作者姓名： | 郭玉波 姚郁 遆晓光 |
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| 作者单位： | 哈尔滨工业大学,控制与仿真中心,黑龙江,哈尔滨,150001 |
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| 摘 要： | 针对并联机构位姿视觉测量中特征点像点定位偏差大的问题,提出了基于并联机构位姿近似求解的补偿方法。首先,建立了定位偏差的数学模型;然后,根据并联机构小位姿差异时特征点像点定位偏差相近的特点,利用含有定位偏差的特征点像点求取并联机构的近似位姿,从而实现近似补偿;最后,通过仿真实验验证了该补偿方法的有效性。
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| 关 键 词： | 并联机构 视觉测量 定位偏差 数学模型 |
| 文章编号： | 1000-9787（2007）09-0023-03 |
| 修稿时间： | 2007-08-03 |
Location deviation compensation of feature point in vision-based pose measurement of parallel mechanism |
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| GUO Yu-bo,YAO Yu,DI Xiao-guang.Location deviation compensation of feature point in vision-based pose measurement of parallel mechanism[J].Transducer and Microsystem Technology,2007,26(9):23-25,28. |
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| Authors: | GUO Yu-bo YAO Yu DI Xiao-guang |
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| Affiliation: | Control and Simulation Center, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | In view of large location deviation of the feature point images in vision-based pose measurement of parallel mechanism, a compensation method is proposed on the basis of approximation solution of parallel mechanism pose. Firstly, mathematical model of location deviation is established. Then considering feature point images have similar location deviation at small parallel mechanism pose variation, approximated pose of parallel mechanism is obtained by use of feature point images with location deviation to realize approximate compensation. Finally, simulation experiments are conducted to prove the validity of the compensation method. |
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| Keywords: | parallel mechanism vision measurement location deviation mathematical model |
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