GWM-view: Gradient-weighted multi-view calibration method for machining robot positioning |
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| Affiliation: | 1. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China;2. Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China;3. Hubei Longzhong Laboratory, Xiangyang 441000, China;1. College of Engineering and Physical Sciences, Aston University, Birmingham, B47ET, UK;2. Department of Mechanical Engineering, The University of Auckland, Auckland, 1010, New Zealand;3. Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, USA;4. Department of Production Engineering, KTH Royal Institute of Technology, Stockholm, Sweden;5. Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW), University of Stuttgart, Stuttgart, 70174, Germany;1. School of Mechanical Engineering, Shandong University, Jinan 250061, PR China;2. Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan 250061, PR China;1. Xidian University, Xi''an, China;2. KTH Royal Institute of Technology, Stockholm, Sweden;3. University of Patras, Patras, Greece;4. Technical University of Berlin, Berlin, Federal Republic of Germany;1. State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China;2. Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China;3. AVIC Shenyang Aircraft Corporation, Shenyang, 110850, China |
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| Abstract: | Multi-camera vision is widely used for guiding the machining robot to remove flash and burrs on complex automotive castings and forgings with arbitrary initial posture. Aiming at the problems of insufficient field of vision and regional occlusion in actual machining, a gradient-weighted multi-view calibration method (GWM-View) is proposed for the machining robot positioning based on the convergent binocular vision. Specifically, the mapping between each auxiliary camera and the main camera in the multi-view system is calculated by the inverse equation and intrinsic parameter matrix. Then, the gradient-weighted suppression algorithm is introduced to filter out the errors caused by camera angle variation. Next, the spatial coordinates of the feature points after suppression are used to correct the transformation matrix. Finally, the hand-eye calibration algorithm is implemented to transform the corrected data into the robot base coordinate system for the accurate positioning of the robot under multiple views. The experiment on the automotive engine flywheel shell indicates that the average positioning error is controlled within 1 mm under different postures. The stability and robustness of the proposed method are further improved while the positioning accuracy of the machining robot meets the requirements. |
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