协作机械臂末端执行器的快速定位算法

针对传统的协作机械臂末端执行器即时定位效果差的问题,采用AprilTag标签定位,提出一种基于几何学提取ROI的快速定位算法。该算法对宏观尺寸目标采用下采样方法搜索有效局部范围,建立几何约束提取边缘像素点,加速目标识别速度。为了验证所提出算法的有效性,设计了机械臂末端执行器的视觉定位系统实验。实验结果表明:该算法的角点检测相对误差平均值低于0.1pixel,且检测速度提高至40帧/s,实现了对机械臂末端的快速定位。

Fast Positioning Algorithm for End-effector of Cooperative Manipulator

Aiming at the poor real-time positioning effect of the traditional cooperative manipulator end-effector, AprilTag tag positioning was adopted to propose a fast positioning algorithm based on geometry to extract ROI. The algorithm uses a downsampling method to search the effective local range for macro-size targets, and establishes geometric constraints to extract edge pixels to accelerate the speed of target recognition. In order to verify the effectiveness of the proposed algorithm, a visual positioning system experiment is designed for the end-effector of the manipulator. The experimental results show that the speed of the proposed algorithm is improved to 40frame/s under the average relative error of corner detection is lower than 0.1pixel. Therefore, the proposeed algorithm realizes the rapid positioning of the end of the manipulator.