非接触式机器人直线轨迹测量系统

视觉的、造价低廉实用的非接触式机器人直线轨迹测量系统．该测量系统由结构光视觉传感 器、测量轨道、主控计算机及相关软件组成．视觉传感器可固定于机器人末端．当机器人末 端带动视觉传感器沿测量轨道做直线运动时，通过传感器测量相对测量轨道的连续位姿关系 ，就可间接描述机器人末端的运动轨迹．当重复同一直线运动时，可检测出机器人的轨迹重 复性．本文综述了机器人直线轨迹测量设备的研究现状，介绍了轨迹检测系统的测量原 理，重点讨论了该测量系统的两个关键技术：空间特征点的图象提取技术和三维坐标计算方 法，并描述了该系统的结构、性能指标和测量试验结果．

NON-CONTACT MEASUREMENT SYSTEM FOR LINEAR TRAJECTORY OF ROBOTS

The linear trajectory is one of major performance of industrial robots. This paper describes a vision based non contact measurement system capable of determining the linear trajectory performance of industrial robot. This system consists of active vision sensor, special measurement orbit, computer and correlative software. The vision sensor can be mounted on the end effector of robot arm, and the pose between sensor frame and measurement orbit frame can be determined by this system when the robot moves along the measurement orbit. So the system, much cheap and practical, can measure the straightness and repeatability of the robot movement trajectory. This paper will review the measurement devices of industrial robots at first, then describe the principle of our system, and discuss two key techniques mainly, including the 3 D coordinate calculation and image processing. At last the system the configuration and measurement result will be given.