Laser & Optoelectronics Progress, Volume. 60, Issue 14, 1415002(2023)
Kinematic Parameter Identification of Industrial Robot Based on Binocular Vision
Fig. 1. 3D coordinate system relationship diagram of robotic arm
Fig. 2. Binocular vision recognition robot kinematic parameter system
Fig. 3. Pseudo-random sequence and Halton sequence comparison chart
Fig. 4. Flow chart of kinematic parameter identification by STAPSO
Fig. 5. Layout of the experimental device
Fig. 6. Measurement error diagrams of binocular vision system. (a) 70 mm error point set; (b) x, y axis 10 mm, 70 mm average error; (c) x-axis range error; (d) y-axis range error
Fig. 7. Spatial distribution of collection points
Fig. 8. Comparison chart of PSO algorithm iteration
Fig. 9. Comparison of identification results of each algorithm
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Yanqiong Shi, Kefan Li, Rongsheng Lu, Xiyong Zhou. Kinematic Parameter Identification of Industrial Robot Based on Binocular Vision[J]. Laser & Optoelectronics Progress, 2023, 60(14): 1415002
Category: Machine Vision
Received: Jul. 11, 2022
Accepted: Aug. 20, 2022
Published Online: Jul. 25, 2023
The Author Email: Shi Yanqiong (yqshi@ahjzu.edu.cn)